robot_skills

robot_skills provide interfaces to all parts of a robot: its base, arms, head, perception, worldmodel, speech system, etc.

A robot is represented via a robot-object which can be used by the robot_smach_states

This package contains a mockbot, which expose all the needed interfaces.

Robot registration

To implement your own robot, create a robot specific skills package. To register your robot add the following to the package.xml of your package:

<export>
  <robot_skills robot="foo_skills.foo.Foo"/>
</export>

The value of the robot attribute has to be of the format: <package_name>.<sub_module>.<class_name>.

Unittests are included in this package. Implement this in your robot specific skills package. In case this test succeeds, the robot could be used by (most) smach states from the robot_smach_states package.