nexus_workcell_orchestrator

The workcell orchestrator:

1. discover it’s capabilities wip
2. report it’s ability to perform a task
3. performs a task request
4. register itself to the system orchestrator
5. monitor the state of controllers
6. request controllers to change states

Supported Capabilities

The capabilities supported by a workcell must be provided by the capabilities ROS parameter. The parameter must be an array of strings listing all the ids of the capabilities supported. Also depending on the capabilities provided, other parameters must also be provided.

Remapping Task Types

The task types received by a specific workcell can be remapped to a capability via remap_task_types ROS Parameter. This parameter is in the form of a YAML string, where the key is the capability to be mapped to and the value is an array specifying what task types to map from. One such example is provided:

{
    pick_and_place: [pick_and_place_productA, pick_and_place_productB],
}

In the example above, when the orchestrator receives a work order with steps containing either pick_and_place_productA or pick_and_place_productB, it will consider it to be the same as pick_and_place and will execute the same pick_and_place.xml behavior tree for either.

Changelog for package nexus_workcell_orchestrator

0.1.1 (2023-11-20)

0.1.0 (2023-11-06)

• Provides the nexus_workcell_orchestrator node to orchestrate the execution of a work orders step within a workcell.
• Provides out-of-the-box implementation of behavior trees nodes related to workcell orchestration.