/warehouse_manager

Primary LanguageC++

This package serves as a warehouse manager, that assignes tasks to the robots when asked for and generate a report to record the method performance for benchmarking.

Following is the folder structure

Current functionality of EnvironmentMaster class:

  • Hosts a service called request_available_task to assign tasks(goals) to the robot requesting for goals which has (request: name of robot (eg. 0, 1, .., n) response: x , y, task_available)
  • Hosts a service called report_task_complete to store the time taken and min_distance to goal by robot which has (request: name of robot (eg. 0, 1, .., n) , time, distance)
  • Hosts a service called gen_final_report to generate a text file which only has total time taken, total distance travelled and number of collisions (request: generate_report)

To use Environment Master:

  • Setup your local planner to request the task using the above service
  • Launch stage, global planner and local planner
  • Then run rosrun warehouse_manager warehouse_master