Module: RobotControlManager


Module info:

Module name Short description Publishes Subscribes
RobotControlManager Module in charge of controlling the Operation mode (autonomous/Manual) of a Robot. CANCEL_IN_EXECUTION , CANCEL_NAVIGATION , COLLABORATIVE , ERROR_MSG , LOGGER_START , LOGGER_STOP , MOTION_CMD_V , MOTION_CMD_W , NAVIGATE_TARGET , NEW_TASK , PARKING , PNAVIGATORREACTIVEPTG3D_CMD , RANDOM_NAVIGATOR , RECHARGE_COMPLETED , ROBOT_CONTROL_MODE , TOPOLOGICAL_DESTINY BATTERY_IS_CHARGING , BATTERY_MANAGER_IS_CHARGING , BATTERY_MANAGER_V , BATTERY_V , CANCEL_NAVIGATION , CLIENT_MQTT_ACK , COLLABORATIVE_REQUEST , GO_TO_NODE , GO_TO_RECHARGE , LOCALIZATION , MOTION_REQUEST , MQTT_CONNECT_STATUS , NAVIGATE_TARGET , PARKING , PLAN_FINISHED , RANDOM_NAVIGATOR , SHUTDOWN

MOOS commands accepted by the module:

Parameters accepted in the MOOS mission file:
Parameter Description
battery_base Indicates true=Monitor battery from the robot base, false=monitor external battery (see BatteryManager module)
battery_threshold_charged Battery level corresponding to a complete charge
battery_threshold_recharge Battery level that once is reached will cause the robot to go Recharge
battery_threshold_warning Battery level that once is reached will generate a user warning
check_battery_status Indicates (true/false) if the robot controller should periodically check the battery status and return to Docking when low.
max_client_ack_interval The maximum interval (seconds) between Client's ACK if use_client_alive_ack=true
use_client_alive_ack Indicates (true/false) if the robot controller should periodically check the ACK sent by the MQTT client to cancel Navigation on error.
working_mode Indicates (auto/onlyOpenMORA) if the robot controller should listen to the commands sent by an external client (pilot, etc.), or not.

Detailed description:
Module in charge of controlling the Operation mode (autonomous/Manual) of a Robot.The module controls when the robot is to be teleoperated manually via Pilot, etc.,or when the OpenMORA modules (ReactiveNavigation, NavigatorTopological, etc.) are in control.This module also implements some security procedures in case of errors or malfunctions, sucha as:- Stopping the robot and returning the control to manual mode- Returning to Docking when low batery is detected (if enabled).- Returning to Docking or stooping when Client connection is lost (if enabled).

Module graph:
RobotControlManager

TODO list:
(None)


Changes log:
(None)



Page generated by Mooxygen 1.1.0 at Thu Jan 22 11:30:21 2015
Valid HTML 4.01 Transitional