RosMessage

ROS Messages

Operate a robot by subscribing and publishing several ROS topics.
For details please see the following wiki.
https://github.com/RoboCupatHomeSim/common-unity/wiki/RosTopics

Sending and receiving of event messages between the human avatar and the robot is performed using original ROS messages (handyman/HandymanMsg).

[handyman/HandymanMsg]
string message
string detail

No	Topic Name	Direction	Message Type	Description
1	/handyman/message/ to_robot	SIGVerse ⇒	handyman/ HandymanMsg	Event message from Robot to Avatar
2	/handyman/message/ to_moderator	ROS ⇒	handyman/ HandymanMsg	Event message from Avatar to Robot

Note: SIGVerse ⇒: SIGVerse to User's ROS Node, ROS ⇒: User's ROS Node to SIGVerse

For details of event messages please see the following table.

No	Event	Direction	message	detail
1	Send Are_you_ready?	Avatar ⇒	Are_you_ready?	(blank)
2	Send Environment info	Avatar ⇒	Environment	Environment name (e.g.: Environment_01) or "unknown"
3	Send I_am_ready	Robot ⇒	I_am_ready	(blank)
4	Send a task message	Avatar ⇒	Instruction	task message(e.g.: Go to the XXXX, grasp the YYYY and bring it here.)
5	Send Room_reached	Robot ⇒	Room_reached	(blank)
6	Failed Room_reached	Avatar ⇒	Task_failed	Room_reached
7	Send Does_not_exist	Robot ⇒	Does_not_exist	(blank)
8	Failed Does_not_exist	Avatar ⇒	Task_failed	The target exist
9	Send a corrected task message	Avatar ⇒	Corrected_instruction	task message(e.g.: Go to the XXXX, grasp the ZZZZ and bring it here.)
10	Send Object_grasped	Robot ⇒	Object_grasped	(blank)
11	Failed Object_grasped	Avatar ⇒	Task_failed	Object_grasped
12	Failed Object_grasped (the robot sent the message when the target doesn't exist)	Avatar ⇒	Task_failed	The target doesn't exist
13	Send Task_finished	Robot ⇒	Task_finished	(blank)
14	Failed Task_finished	Avatar ⇒	Task_failed	Task_finished
15	Succeeded the task	Avatar ⇒	Task_succeeded	(blank)
16	All tasks finished	Avatar ⇒	Mission_complete	(blank)
17	Send Give_up	Robot ⇒	Give_up	(blank)
18	Give up	Avatar ⇒	Task_failed	Give_up
19	Time is up	Avatar ⇒	Task_failed	Time_is_up

Note: Avatar ⇒: Human avatar to Robot, Robot ⇒: Robot to Human avatar