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Base task manager (#23)
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Updated serve breakfast task manager base
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@afr2903
afr2903 authored Apr 13, 2024
2 parents 3328a89 + 8cd2873 commit e3b3b47
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16 changes: 14 additions & 2 deletions README.md
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Expand Up @@ -71,6 +71,18 @@ make main.remove
```

Additional commands can be added within the Makefile and the scripts inside the `docker/scripts` folder can help for easier integration and sharing. These include a build script to run the dockerfile and create a new image and a run script to create containers from it. Any additional dependency or system/environment configuration should be added to these scripts.

## Task manager

The `frida_task_manager` is the central package in charge of processing the command information and directing the tasks with its respective area. For code readability, each area development its inside a Python module `area_tasks.py`, and they are called by `task_manager_server.py`, the script were the ROS node is created.

For executing the `task_manager`, follow the above steps of [Docker setup](#Docker%20Development). Inside the `bash` terminal, setup the ROS network and execute the node:
```bash
export ROS_MASTER_URI=http://192.168.31.23:11311 # IP of the ROS Master (if master is in another machine)
export ROS_IP=192.168.31.97 # IP of own machine
rosrun frida_task_manager task_manager_server.py
```

## Team Members

| Name | Github | Role |
Expand All @@ -84,6 +96,6 @@ Additional commands can be added within the Makefile and the scripts inside the
| Marina Villanueva | [@mariinaVillanueva](https://github.com/mariinaVillanueva) | HRI |
| David Vázquez | [@Deivideich](https://github.com/Deivideich) | Electronics, Navigation & Manipulation |
| Diego Hernández | [@Diego-HC](https://github.com/Diego-HC) | Navigation |
| Franciso Salas | [@Francisco-SP3](http://github.com/Francisco-SP3) | HRI |
| Franciso Salas | [@Francisco-SP3](http://github.com/Francisco-SP3) | HRI, Navigation |
| Leonardo Sánchez | [@LeoLFSH](https://github.com/LeoLFSH) | Mechanics |
| Alex Guerrero | [@]() | Mechanics |
| Alex Guerrero | [@alex-guerreroc](https://github.com/alex-guerreroc) | Mechanics |
4 changes: 3 additions & 1 deletion docker/Dockerfile.main
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Expand Up @@ -5,7 +5,9 @@ RUN apt-get update -qq && apt-get install -y build-essential \
ffmpeg libsm6 libxext6 autoconf libtool mesa-utils \
terminator nano git wget curl iputils-ping \
libcanberra-gtk-module libcanberra-gtk3-module \
ros-dev-tools
ros-dev-tools \
ros-noetic-move-base-msgs


RUN apt-get update && apt-get install -y ros-noetic-rqt ros-noetic-rqt-common-plugins

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45 changes: 45 additions & 0 deletions ws/src/frida_navigation_interfaces/CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(frida_navigation_interfaces)

find_package(catkin REQUIRED COMPONENTS
actionlib
actionlib_msgs
geometry_msgs
message_generation
move_base_msgs
roscpp
rospy
std_msgs
)


## Generate actions in the 'action' folder
add_action_files(
FILES
navServ.action
)

## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
actionlib_msgs geometry_msgs move_base_msgs std_msgs
)

catkin_package(
# INCLUDE_DIRS include
# LIBRARIES frida_navigation_interfaces
CATKIN_DEPENDS actionlib actionlib_msgs geometry_msgs message_generation move_base_msgs roscpp rospy std_msgs
# DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)

8 changes: 8 additions & 0 deletions ws/src/frida_navigation_interfaces/action/navServ.action
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#goal definition
string target_location
---
#result definition
bool result
---
#feedback
geometry_msgs/PoseStamped pose
50 changes: 50 additions & 0 deletions ws/src/frida_navigation_interfaces/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>frida_navigation_interfaces</name>
<version>0.0.0</version>
<description>The frida_navigation_interfaces package</description>

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">ros</maintainer>


<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>


<buildtool_depend>catkin</buildtool_depend>
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>actionlib</build_export_depend>
<build_export_depend>actionlib_msgs</build_export_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>move_base_msgs</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>message_generation</build_export_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>move_base_msgs</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>


<export>
<!-- Other tools can request additional information be placed here -->

</export>
</package>
160 changes: 1 addition & 159 deletions ws/src/frida_task_manager/CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(frida_task_manager)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
actionlib
geometry_msgs
roscpp
rospy
std_msgs
move_base_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
# FILES
Expand Down Expand Up @@ -75,134 +37,14 @@ find_package(catkin REQUIRED COMPONENTS
# geometry_msgs# std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES frida_task_manager
# CATKIN_DEPENDS actionlib geometry_msgs roscpp rospy std_msgs
# DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/frida_task_manager.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/frida_task_manager_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_frida_task_manager.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
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