Robot Motion Servers

Action Servers and Clients to give Robot Navigation Commands

Nodes Included

Each node represents one form of Navigation

1. Navigation Action Server
2. Dock/Undock Action Server

Action Messages

The message formats for both action servers are present in the robot_action_interface package along with all other interface definitions

Action Server Logic

The action servers provide control flow for robot motion. This motion server is the lowest level action server which has the all the functionalities to move the robot but needs upstream orchestration by the state machine

High Level Logic

The action servers are part of the state machine on the robot which will call on each action server independently

Low Level Logic

Each action server communicates vital feedback or results which need to be propogated to the top level nodes. This specific communication is shown below

Launching Action Servers

ros2 launch robot_motion_server motion_servers.launch.py
# or
ros2 run robot_motion_server robot_motion_server_node

# action call for DockUndock motion server
ros2 action send_goal /DockUndock robot_action_interfaces/action/DockUndock "secs: 2"