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.

• puck_loc_module?
• machine_pos_module?
• tf_module?