multi_cell_builder

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.
multi_cell_builder/mtc/mtc2taskspace.cpp (/resources/{resource}) -> (/descriptions/{resource})
roslaunch multi_cell_builder mtc2taskspace.launch resource='dummy.yaml'

base_routine

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.
multi_cell_builder/src/base_routine.cpp (/map/{map}, /resources/{resource}, /descriptions/{descriptions}) -> (/results/{resource}/ros::time.yaml)
roslaunch multi_cell_builder base_routine.launch resource='dummy.yaml' map='dummy.yaml' description='dummy.yaml'

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.
multi_cell_builder/src/cell_routine.cpp (/results/{result}, /descriptions/{task}) -> ()
roslaunch multi_cell_builder base_routine.launch result='/dummy/dummy.yaml' task='dummy.yaml' (is coop)
roslaunch multi_cell_builder base_routine.launch result='/dummy/dummy.yaml' task='dummy2.yaml' (is parallel)

Christoph's parser could not be integrated because there is no way to have multiple robots compute a task.

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.

☑️ present a faster work-space execution
☑️ generate more solutions for 1 dump file
☑️ present solution for general robots
☑️ elaborate the moveit task constructor
☑️ present more general task files
🔲 include cosmetic values
☑️ passing yaml in xacro (franca_description)
☑️ parallel tasks (Docker already downloaded, just have to try) (main focus)
🔲 fix acm
🔲 include ferdinands work (main focus)

Im working non stop, so don't forget to pull.
Git Docker Ferdinand