Planner executor

planner_executor is the main executable which is executed when planner_executor.launch is launched. It creates a bunch of BaseExecutorAction objects. When a execute plan goal is received, it call individual action’s execute function.

Most of the time, this execute function will change the names of the parameters obtained from planner to something that makes sense. After that, it will call run function which

creates a goal of the action server

sends this goal to action server

wait for the server to respond within certain time duration

if the server responds with success, it will return true otherwise false

Some actions are Combined, which means, it has most of the things in common at planning and execution level but has different server (for example, perceive location and perceive cavity). This will have a check on one of the parameters. Based on this check either one of the server will be called as described above.

Usage

Normal use

roslaunch mir_planner_executor planner_executor.launch

Testing

roslaunch mir_planner_executor planner_executor.launch
roslaunch mir_planner_executor planner_executor_test.launch

OOP Structure

BaseExecutorAction
    |
    '- ExecutorAction
    |      |
    |      '- MoveAction
    |      |
    |      '- PickAction
    |      |
    |      '- PlaceAction
    |      |
    |      '- StageAction
    |      |
    |      '- UnstageAction
    |      |
    |      '- BasePerceiveAction
    |      |      |
    |      |      '- PerceiveAction
    |      |      |
    |      |      '- PerceiveCavityAction
    |      |
    |      '- BaseInsertAction
    |             |
    |             '- InsertAction
    |             |
    |             '- InsertCavityAction
    |
    '- CombinedPerceiveAction
    |
    '- CombinedInsertAction