Last modified 3 years ago
Last modified on 04/02/16 12:16:30
List of Skills used in the Carologistics LLSF system
Additional info can be found here BehaviorEngine
Skills marked with an * are directly used by the CLIPS agent (13.10.2015).
- enable_switch send switch enable/disable messages to certain interfaces *
- drive_test drives between defined NavGraph Nodes
- goto
- ppgoto drives robot to a place on the map using the navgraph *
- global_motor_move drives robot to a place on the map using motor commands and the position from the transform
- motor_move drives the robot just by using motor commands *
- relgoto drives to a position relative to the robots position and orientation
- drive_to Drive to point with colisoin avoidance and last part with global_motor_move
- mps_detect_signal Detect light-signal at a certain MPS *
- explore_zone Explores a zone defined by (x_min, y_min) and (x_max, y_max). Searches for mps with the laser and tag vision *
- drive_into_field Drives into field after given time-offset *
- get_product_from aligns to a machine and picks a product from the conveyor. It will get the offsets and the align distance for the machine from the navgraph *
- bring_product_to aligns to a machine and puts a product on the conveyor. It will get the offsets and the align distance for the machine from the navgraph *
- ax12gripper Skill to open and close AX12 - gripper. *
- align_laserlines
- align_tag
- approach_mps
- approach_test Test MPS interaction (align + put/pick) without navgraph
- check_tag
- conveyor_align
- drive_tag
- drive_to_global
- drive_to_local
- get_base
- global_motor_move
- global_move_laserlines
- goto_waypoints
- grip_cylinder
- gripper
- mps_align
- ppgoto_waypoints
- product_pick
- product_put
- shelf_pick The robot picks up a base from a specified shelf position (left, middle, right)
- shelf_put
- slide_put
Modules
Modules provide some externalized functionality like reading from or writing to an interface.
Attachments
-
dependencies.png
(261.3 KB) -
added by sschoenitz 3 years ago.
The dependency-graph of the skills
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skills2graph.py
(1.2 KB) -
added by sschoenitz 3 years ago.
The pythonscript to generate the dependencies.dot