It is worth to mention that splitting orders into cases for user-defined orders is optional your favourite locations as another cases Of course one could add any case to existing order, which is a very simple operation. They would be converted to target_pose field of action message. These would be stored in action message as keys and values described above, but keys frame, x, y and yaw are an exception. On the website it will be shown as goal with description turn left, which is a concatenation of description of order and particular case. "turn left" then it would be recognized as a order with label mbgoal, frame base_link and case left with field yaw equal to 1.57. These would be converted automatically to keys and values in order action message.Īs you can see in this example order is divided into few cases, each with its own voice_alias and description. You could add as many keys in custom order as you need, without any limitations. If this key is absent (like in this example) it is assumed to be equivalent with voice_alias. There is an optional parameter - description which was described the moment ago. Former is an alias which user has to say to trigger particular order, latter was described earlier. Orders can be defined as YAML files living in order_executor/config folder of order_executor package, so let's move there:įirst two keys, i.e.
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