multi_cell_builder is the core package developed with different design patterns to ensure both extensibility and variability.
## executables
multi_cell_builder consists of 3 executables, with each computing .yaml files for the next subsequent module, according the following strcture.
> mtc2taskspace >> base_routine >> cell_routine
### mtc2taskspace
From a bare Ceti-resource file representing an arbitrary scene with specific locations, located in the /resources directory. Mtc2taskspace computes a new file and associates each object with a drop-of-location to a robot. The shared space between robots is expressed by identical location entries for each robot involved. <br/>
Calculates the workspace from a descriptions file (/descriptions/{description}) and a precomputed reachability map (/map/{map}), combined with information of a resource file (/resources/{resource}). Creates the directory (results/{resource}/ros::time.yaml}) with the resulting files as contents. <br/>
> Replace already existing result folder if exists.
>> Resulting files can break the yaml schema, because each robot has an extra rpy element which is important for setting robot pose in franca_description. Also each 8th entry must be a table[0-9]+_table_top id. Cosmetic data (table_wheel...) included as placeholder
### cell_routine
Designed to load a resource file (+ with additional rpy component in the right order) and execute a task with moveit task constructor. A task description can also be the /descriptions/{description} in the example. <br/>
> Christoph's parser could not be integrated because there is no way to have multiple robots compute a task.
multi_cell_builder is an approach that combines both the work of gb-auerswald and the earlier work of accessibility into a package that allows dynamic changes to the startup configuration and parallel execution. Soon this will be a container that meets the requirements for a software artifact. I wish you a happy Easter and look forward to introducing you to this latest comeback approach next week.
## Current state
State: in progress. Every executable is working with some explained downfalls that should be fixed in the next days. Implementing or omitting ideas because some modules do not work as expected took a lot of time. The actual results (62 files for dummy.yaml) can be loaded and run. I tested 10/62 myself, with surprisingly good results. The following list shows open and closed ToDos.<br/>
State: in progress. Implementing or omitting ideas because some modules do not work as expected took a lot of time. The actual results can be loaded and run. I tested some myself, with surprisingly good results. The following list shows open and closed ToDos.<br/>
:ballot_box_with_check: present a faster work-space execution <br/>
:ballot_box_with_check: generate more solutions for 1 dump file <br/>
:ballot_box_with_check: generate more solutions for 1 protobuf reference file <br/>
:ballot_box_with_check: present solution for general robots <br/>
:ballot_box_with_check: elaborate the moveit task constructor <br/>
:ballot_box_with_check: present more general task files <br/>
:black_square_button: include cosmetic values <br/>
:ballot_box_with_check: passing yaml in xacro (franca_description) <br/>
:ballot_box_with_check: parallel tasks (Docker already downloaded, just have to try) (main focus)<br/>
:black_square_button: fix acm <br/>
:black_square_button: include ferdinands work (main focus)<br/>
:ballot_box_with_check: parallel task execution in container<br/>
:ballot_box_with_check: fix acm <br/>
:black_square_button: include ferdinands work (about to be done)<br/>
Im working non stop, so don't forget to pull. <br/>
[Git Docker](https://github.com/cambel/moveit_simultaneous_motions_demo.git"github link for parallel docker")
