sar_robot_translation

SAR Robot Translation is a ROS node that translates generic robot commands to platform-specific robot commands.

Configure and run

From the "sar_robot_translation/src" directory, execute the robot_translation_node.py file:

./robot_translation_node.py

or

python robot_translation_node.py

On startup, this program will read the configuration file located in the "sar_robot_translation/src/" directory. The file is written in JSON. The program expects the configuration file to be called "robot_translation_config.json". The configuration includes the following options:

• which_robot: This ROS node will translate the generic robot commands received into platform-specific robot commands for the robot indicated here. Available robot types include: JIBO, SPRITE, SIMULATED.

If roscore is not running, the program will print a message saying that it is unable to register with the master node, and will keep trying to connect.

ROS messages

SAR Robot Command messages

The program subscribes to "/sar_robot_command_msgs/RobotCommand" on the ROS topic "/robot_command".

The program subscribes to "/sar_robot_command_msgs/RobotState" on the ROS topic "/robot_state".

See sar_robot_command_msgs for more info about these messages.

Robot-specific messages

The program will publish messages to robot-specific topics depending on which robot is set in the configuration file.

TODO: Determine message types and ROS topic names for each robot platform.

Version and dependency notes

This program was built and tested with:

• Python 2.7.6
• ROS Indigo
• sar_robot_command_msgs 1.0.0
• Ubuntu 14.04 LTS (64-bit)

Bugs and issues

Please report all bugs and issues on the sar_robot_translation github issues page.

TODO

• Fill out functions to translate generic robot commands to platform-specific commands
• Check that robot command message data received is in a valid format before passing to platform-specific translators
• Fill out function for doing something useful with robot state information