Message Definitions for CGRAS 2025

This catkin package contains definitions for Actions between the coordinator, the robot agent and the camera agent.

Installation

Install this as one of the packages in a catkin workspace under src.

The Robot Agent

The three action definitions have been simplified into one action. Please refer to the CGRAS2025 repository for more details.

Move

GOAL DEFINITION

• Type (int): the movement type
• Tank ID (int): The tank where the destination grid cell is found.
• Tile X (int): The X index of the tile where the detination grid cell is found.
• Tile Y (int): The Y index of the tile where the detination grid cell is found.
• Grid X (int): The X coordinate of the detination grid cell of the tile
• Grid Y (int): The Y coordinate of the detination grid cell of the tile

int8 type
int32 tank_id
int32 placement_x
int32 placement_y
int32 capture_x
int32 capture_y

RESULT DEFINITION

• Error (string): The error message if success is False

string error

FEEDBACK

• State (string): to be defined but anything useful for the operator's information is welcome

string state

Types of Movement

int8 MOVE_TO_CAPTURE = 1
int8 MOVE_TO_STOW = 2
int8 MOVE_TO_CALIBRATE_TAG = 3
int8 MOVE_TO_READ_RFID_TAG = 4

Please contact Andrew if there is any question or suggestion.