@@ -38,7 +38,7 @@ content: '`ros2 run air_simple_sim generate_rdf office_1`'"
## Goal message
In your `air_lab_interfaces`, you should add two new messages ``Goal` and `GoalsRequest`. They will be used to communicate goals between `text_to_goals` and `decision`.
In your `air_lab_interfaces`, you should add two new messages ``Goal` and `GoalsRequest`. They will be used to communicate goals between `text_to_goals` and `decision`. You can check the [official tutorial](https://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html) to know how to create custom messages.
`Goal` should have the following fields:
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@@ -62,6 +62,8 @@ Examples of text commands:
* "Bring Coffee" this should lead to a `Goal` with field `{ type: "bring", object: "Coffee", destination: "User" }`
* "Explore!" this should lead to a `Goal` with field `{ type: "explore" }`
You can use `ros2 topic` to publish the text command.
## Decision Node
This node should listen to the topic `goals_requests` and generate TSTs that are then send as a service call to your `tst_executor` like you did in [Lab4](lab4).
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@@ -71,4 +73,4 @@ This node should listen to the topic `goals_requests` and generate TSTs that are
* Use the following command:
- "Goto Annika" should make the robot go to Annika's office
- "Bring Coffee" should make the robot go to a vending machine with coffee and bring it back
- "Explore!" should make the robot start a spiral and explore
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- "Explore!" should make the robot start a spiral and explore
