.. _TUTORIAL4:
=========================
Tutorial 4: Read an order
=========================
This tutorial shows how to subscribe to the :topic:`/orders` topic and parse an :msg:`Order` message.
---------------------------------------
Starting the environment for Tutorial 4
---------------------------------------
To start the environment, use this command:
.. code-block:: bash
ros2 launch ariac_gazebo ariac.launch.py competitor_pkg:=ariac_tutorials trial_name:=tutorial dev_mode:=True
------------------
Running tutorial 4
------------------
To start tutorial 4, open a new terminal and use this command:
.. code-block:: bash
ros2 launch ariac_tutorials tutorial.launch.py tutorial:=4
-----------------------------
Expected output of tutorial 4
-----------------------------
.. code-block:: console
:caption: Tutorial 4 output
:class: no-copybutton
[tutorial_4.py-1] [INFO] [1705524488.855170123] [competition_interface]: Waiting for competition to be ready
[tutorial_4.py-1] [INFO] [1705524511.376178625] [competition_interface]: Competition state is: idle
[tutorial_4.py-1] [INFO] [1705524624.315864392] [competition_interface]: Competition state is: ready
[tutorial_4.py-1] [INFO] [1705524624.342930104] [competition_interface]: Competition is ready. Starting...
[tutorial_4.py-1] [INFO] [1705524624.380538068] [competition_interface]: Started competition.
[tutorial_4.py-1] [INFO] [1705524624.537476295] [competition_interface]:
[tutorial_4.py-1]
[tutorial_4.py-1] ==========================
[tutorial_4.py-1] Received Order: MMB30H56
[tutorial_4.py-1] Priority: False
[tutorial_4.py-1] Type: Kitting
[tutorial_4.py-1] ==========================
[tutorial_4.py-1] AGV: 3
[tutorial_4.py-1] Destination: warehouse
[tutorial_4.py-1] Tray ID: 3
[tutorial_4.py-1] Products:
[tutorial_4.py-1] ==========================
[tutorial_4.py-1] Quadrant 1: 🟪 Purple Pump
[tutorial_4.py-1] Quadrant 2: -
[tutorial_4.py-1] Quadrant 3: 🟦 Blue Battery
[tutorial_4.py-1] Quadrant 4: -
[tutorial_4.py-1]
[tutorial_4.py-1] [INFO] [1705524626.044062501] [competition_interface]: Competition state is: started
[tutorial_4.py-1] [INFO] [1705524710.359818890] [competition_interface]:
[tutorial_4.py-1]
[tutorial_4.py-1] ==========================
[tutorial_4.py-1] Received Order: 2IZJP127
[tutorial_4.py-1] Priority: False
[tutorial_4.py-1] Type: Assembly
[tutorial_4.py-1] ==========================
[tutorial_4.py-1] AGV(s): [1, 2]
[tutorial_4.py-1] Station: Assembly Station 1
[tutorial_4.py-1] Products:
[tutorial_4.py-1] ==========================
[tutorial_4.py-1] Part: 🟥 Red Regulator
[tutorial_4.py-1] Position:
[tutorial_4.py-1] x: 0.175 (m)
[tutorial_4.py-1] y: -0.223 (m)
[tutorial_4.py-1] z: 0.215 (m)
[tutorial_4.py-1] Orientation:
[tutorial_4.py-1] roll: 90°
[tutorial_4.py-1] pitch: 0°
[tutorial_4.py-1] yaw: -90°
[tutorial_4.py-1] Install direction:
[tutorial_4.py-1] x: 0.0
[tutorial_4.py-1] y: 0.0
[tutorial_4.py-1] z: -1.0
[tutorial_4.py-1] Part: 🟥 Red Battery
[tutorial_4.py-1] Position:
[tutorial_4.py-1] x: -0.150 (m)
[tutorial_4.py-1] y: 0.035 (m)
[tutorial_4.py-1] z: 0.043 (m)
[tutorial_4.py-1] Orientation:
[tutorial_4.py-1] roll: 0°
[tutorial_4.py-1] pitch: 0°
[tutorial_4.py-1] yaw: 90°
[tutorial_4.py-1] Install direction:
[tutorial_4.py-1] x: 0.0
[tutorial_4.py-1] y: 1.0
[tutorial_4.py-1] z: 0.0
[tutorial_4.py-1] Part: 🟥 Red Pump
[tutorial_4.py-1] Position:
[tutorial_4.py-1] x: 0.140 (m)
[tutorial_4.py-1] y: 0.000 (m)
[tutorial_4.py-1] z: 0.020 (m)
[tutorial_4.py-1] Orientation:
[tutorial_4.py-1] roll: 0°
[tutorial_4.py-1] pitch: 0°
[tutorial_4.py-1] yaw: -90°
[tutorial_4.py-1] Install direction:
[tutorial_4.py-1] x: 0.0
[tutorial_4.py-1] y: 0.0
[tutorial_4.py-1] z: -1.0
[tutorial_4.py-1] Part: 🟥 Red Sensor
[tutorial_4.py-1] Position:
[tutorial_4.py-1] x: -0.100 (m)
[tutorial_4.py-1] y: 0.395 (m)
[tutorial_4.py-1] z: 0.045 (m)
[tutorial_4.py-1] Orientation:
[tutorial_4.py-1] roll: 0°
[tutorial_4.py-1] pitch: 0°
[tutorial_4.py-1] yaw: -90°
[tutorial_4.py-1] Install direction:
[tutorial_4.py-1] x: 0.0
[tutorial_4.py-1] y: -1.0
[tutorial_4.py-1] z: 0.0
[tutorial_4.py-1]
[tutorial_4.py-1] [INFO] [1705524799.525134193] [competition_interface]:
[tutorial_4.py-1]
[tutorial_4.py-1] ==========================
[tutorial_4.py-1] Received Order: 2IZJP320
[tutorial_4.py-1] Priority: False
[tutorial_4.py-1] Type: Combined
[tutorial_4.py-1] ==========================
[tutorial_4.py-1] Station: Assembly Station 3
[tutorial_4.py-1] Products:
[tutorial_4.py-1] ==========================
[tutorial_4.py-1] Part: 🟧 Orange Pump
[tutorial_4.py-1] Position:
[tutorial_4.py-1] x: 0.140 (m)
[tutorial_4.py-1] y: 0.000 (m)
[tutorial_4.py-1] z: 0.020 (m)
[tutorial_4.py-1] Orientation:
[tutorial_4.py-1] roll: 0°
[tutorial_4.py-1] pitch: 0°
[tutorial_4.py-1] yaw: -90°
[tutorial_4.py-1] Install direction:
[tutorial_4.py-1] x: 0.0
[tutorial_4.py-1] y: 0.0
[tutorial_4.py-1] z: -1.0
[tutorial_4.py-1] Part: 🟧 Orange Sensor
[tutorial_4.py-1] Position:
[tutorial_4.py-1] x: -0.100 (m)
[tutorial_4.py-1] y: 0.395 (m)
[tutorial_4.py-1] z: 0.045 (m)
[tutorial_4.py-1] Orientation:
[tutorial_4.py-1] roll: 0°
[tutorial_4.py-1] pitch: 0°
[tutorial_4.py-1] yaw: -90°
[tutorial_4.py-1] Install direction:
[tutorial_4.py-1] x: 0.0
[tutorial_4.py-1] y: -1.0
[tutorial_4.py-1] z: 0.0
[tutorial_4.py-1]
[tutorial_4.py-1] [INFO] [1705524800.744276295] [competition_interface]: Competition state is: order_announcements_done
[tutorial_4.py-1] [INFO] [1705524800.759254660] [competition_interface]: Ending competition
[tutorial_4.py-1] [INFO] [1705524800.815803037] [competition_interface]: Ended competition.
[tutorial_4.py-1] [INFO] [1705524802.753138266] [competition_interface]: Competition state is: ended
-------------------------------
Code explanation for Tutorial 4
-------------------------------
This is the node used for tutorial 4. The functions from competition_interface.py which are used are highlighted.
.. code-block:: python
:caption: :file:`tutorial_4.py`
:name: tutorial_4
:emphasize-lines: 20
#!/usr/bin/env python3
import rclpy
import threading
from rclpy.executors import MultiThreadedExecutor
from ariac_tutorials.competition_interface import CompetitionInterface
from ariac_msgs.msg import CompetitionState
def main(args=None):
rclpy.init(args=args)
interface = CompetitionInterface(enable_moveit=False)
executor = MultiThreadedExecutor()
executor.add_node(interface)
spin_thread = threading.Thread(target=executor.spin)
spin_thread.start()
# The following line enables order displays in the terminal.
# Set to False to disable.
interface.parse_incoming_order = True
interface.start_competition()
while rclpy.ok():
try:
if interface.get_competition_state == CompetitionState.ORDER_ANNOUNCEMENTS_DONE:
break
except KeyboardInterrupt:
break
interface.end_competition()
spin_thread.join()
if __name__ == '__main__':
main()
The purpose of this tutorial is to log orders received by :python:`CompetitionInterface`. When an order is published by the :topic:`/ariac/orders`, the :python:`interface._orders_cb` runs. The order msg which was published is then appended to :python:`interface._orders`. Then, since in the node :python:`interface.parse_incoming_order` was set to :python:`True`, the orders received are logged.
This is done using :python:`interface._parce_order`, where the order is parsed and returned as a :python:`string`.