ROS Communication

This section shows the ROS topics and services that are used to communicate between the Competitor Control System (CCS) and the ARIAC system. The definition of each message and service type is also provided.

Competition Topics

Table 1 List of topics.

Topic Name	Message Definition	Description
/ariac/orders	ariac_msgs/msg/Order	Orders that the CCS should submit
/ariac/competition_state	ariac_msgs/msg/CompetitionState	Current state of the competition
/ariac/bin_parts	ariac_msgs/msg/BinParts	Part information in each bin at program start-up
/ariac/conveyor_parts	ariac_msgs/msg/ConveyorParts	Parts that will come on the conveyor belt
/ariac/agv{n}_status	ariac_msgs/msg/AGVStatus	State of the AGV {n} (location, position, velocity)
/ariac/{robot}_gripper_state	ariac_msgs/msg/VacuumGripperState	State of {robot}’s gripper (enabled, attached, type)
/ariac/conveyor_state	ariac_msgs/msg/ConveyorBeltState	State of the conveyor (enabled, power)
/ariac/robot_health	ariac_msgs/msg/Robots	Health of the robots (enabled or disabled)
/ariac/sensor_health	ariac_msgs/msg/Sensors	Health of the sensors (enabled or disabled)
/ariac_human/state	ariac_msgs/msg/HumanState	Position and velocity of the human and the ceiling robot
/ariac/assembly_insert_{n}_assembly_state	ariac_msgs/msg/AssemblyState	State of the assembly station as{n} (battery_attached, pump_attached, sensor_attached, regulator_attached)

Sensor Topics

Table 2 List of sensor topics.

Sensor Type	Topic Name	Message Definition
break_beam	/ariac/sensors/{sensor_name}/change /ariac/sensors/{sensor_name}/status	ariac_msgs/msg/BreakBeamStatus ariac_msgs/msg/BreakBeamStatus
proximity	/ariac/sensors/{sensor_name}/scan	sensor_msgs/msg/Range
laser_profiler	/ariac/sensors/{sensor_name}/scan	sensor_msgs/msg/LaserScan
lidar	/ariac/sensors/{sensor_name}/scan	sensor_msgs/msg/PointCloud
rgb_camera	/ariac/sensors/{sensor_name}/rgb_image	sensor_msgs/msg/Image
rgbd_camera	/ariac/sensors/{sensor_name}/rgb_image /ariac/sensors/{sensor_name}/depth_image	sensor_msgs/msg/Image sensor_msgs/msg/Image
basic_logical_camera	/ariac/sensors/{sensor_name}/image	ariac_msgs/msg/BasicLogicalCameraImage
advanced_logical_camera	/ariac/sensors/{sensor_name}/image	ariac_msgs/msg/AdvancedLogicalCameraImage

Services

Table 3 List of services.

Service Name	Service Definition	Description
/ariac/start_competition	std_srvs/srv/Trigger	Start the competition
/ariac/end_competition	std_srvs/srv/Trigger	End the competition
/ariac/submit_order	ariac_msgs/srv/SubmitOrder	Submit an order with the requested order_id
/ariac/perform_quality_check	ariac_msgs/srv/PerformQualityCheck	Check the quality of a kitting order with the requested order_id
/ariac/get_pre_assembly_poses	ariac_msgs/srv/GetPreAssemblyPoses	Get the pose of parts on the AGVs prior to assembly for an assembly or combined order with order_id
/ariac/move_agv{n}	ariac_msgs/srv/MoveAGV	Move the AGV {n} to the requested location
/ariac/agv{n}_lock_tray	std_srvs/srv/Trigger	Lock a kit tray to AGV {n}
/ariac/agv{n}_unlock_tray	std_srvs/srv/Trigger	Unlock a kit tray to AGV {n}
/ariac/{robot}_enable_gripper	ariac_msgs/srv/VacuumGripperControl	Set the state of {robot}’s gripper to the request state
/ariac/{robot}_change_gripper	ariac_msgs/srv/ChangeGripper	Change the type of {robot}’s gripper to the request type

Message Definitions

ariac_msgs/msg/AdvancedLogicalCameraImage

std_msgs/Header header
ariac_msgs/PartPose[] part_poses
ariac_msgs/KitTrayPose[] tray_poses
geometry_msgs/Pose sensor_pose

• part_poses: The parts in the camera’s field of view

• tray_poses: The kit trays in the camera’s field of view

• sensor_pose: The pose of the camera in the world frame

See also

• ariac_msgs/msg/PartPose

• ariac_msgs/msg/KitTrayPose

• geometry_msgs/Pose

ariac_msgs/msg/AGVStatus

uint8 KITTING=0
uint8 ASSEMBLY_FRONT=1
uint8 ASSEMBLY_BACK=2
uint8 WAREHOUSE=3
uint8 UNKNOWN=99

int8 location
float64 position
float64 velocity

• location: The location of the AGV. One of the following values:

  • KITTING: The AGV is at the kitting station

  • ASSEMBLY_FRONT: The AGV is at the front assembly station (AS1 or AS3 )

  • ASSEMBLY_BACK: The AGV is at the back assembly station (AS2 or AS4 )

  • WAREHOUSE: The AGV is at the warehouse

  • UNKNOWN: The AGV is at an unknown location

• position: The current position of the AGV in the workcell

• velocity: The current velocity of the AGV

ariac_msgs/msg/AssemblyPart

ariac_msgs/Part part
geometry_msgs/PoseStamped assembled_pose
geometry_msgs/Vector3 install_direction

• part: The part to be assembled

• assembled_pose: The pose of the part in the assembly station

• install_direction: The direction the part should be installed in the assembly station

See also

• ariac_msgs/msg/Part

• geometry_msgs/msg/PoseStamped

• geometry_msgs/msg/Vector3

ariac_msgs/msg/AssemblyState

bool battery_attached
bool pump_attached
bool sensor_attached
bool regulator_attached

• battery_attached: True if battery is attached to the assembly insert, False otherwise

• pump_attached: True if pump is attached to the assembly insert, False otherwise

• sensor_attached: True if sensor is attached to the assembly insert, False otherwise

• regulator_attached: True if regulator is attached to the assembly insert, False otherwise

ariac_msgs/msg/AssemblyTask

uint8 AS1=1
uint8 AS2=2
uint8 AS3=3
uint8 AS4=4

uint8[] agv_numbers
uint8 station
ariac_msgs/AssemblyPart[] parts

• agv_numbers: The AGVs which contain parts for assembly

• station: The assembly station to assemble the parts at. One of the following values:

  • AS1: The front assembly station for AGV 1 and 2

  • AS2: The back assembly station for AGV 1 and 2

  • AS3: The front assembly station for AGV 3 and 4

  • AS4: The back assembly station for AGV 3 and 4

• parts: The parts to be assembled

See also

ariac_msgs/msg/AssemblyPart

ariac_msgs/msg/BasicLogicalCameraImage

std_msgs/Header header
geometry_msgs/Pose[] part_poses
geometry_msgs/Pose[] tray_poses
geometry_msgs/Pose sensor_pose

• part_poses: The poses of the parts in the camera’s field of view

• tray_poses: The poses of the kit trays in the camera’s field of view

• sensor_pose: The pose of the camera in the world frame

See also

geometry_msgs/Pose

ariac_msgs/msg/BinInfo

uint8 BIN1=1
uint8 BIN2=2
uint8 BIN3=3
uint8 BIN4=4
uint8 BIN5=5
uint8 BIN6=6
uint8 BIN7=7
uint8 BIN8=8

uint8 bin_number
ariac_msgs/PartLot[] parts

• bin_number: The bin number. One of the following values:

  • BIN1: The first bin

  • BIN2: The second bin

  • BIN3: The third bin

  • BIN4: The fourth bin

  • BIN5: The fifth bin

  • BIN6: The sixth bin

  • BIN7: The seventh bin

  • BIN8: The eighth bin

• parts: The parts in the bin

See also

ariac_msgs/msg/PartLot

ariac_msgs/msg/BinParts

ariac_msgs/BinInfo[] bins

• bins: List of bins and their contents

See also

ariac_msgs/msg/BinInfo

ariac_msgs/msg/BreakBeamStatus

std_msgs/Header header
bool object_detected

• header: The header of the message

• object_detected: Is an object detected?

ariac_msgs/msg/CombinedTask

uint8 AS1=1
uint8 AS2=2
uint8 AS3=3
uint8 AS4=4

uint8 station
ariac_msgs/AssemblyPart[] parts

• station: The assembly station to assemble the parts at. One of the following values:

  • AS1: The front assembly station for AGV 1 and 2

  • AS2: The back assembly station for AGV 1 and 2

  • AS3: The front assembly station for AGV 3 and 4

  • AS4: The back assembly station for AGV 3 and 4

• parts: The parts to be assembled

See also

ariac_msgs/msg/AssemblyPart

ariac_msgs/msg/CompetitionState

uint8 IDLE=0
uint8 READY=1
uint8 STARTED=2
uint8 ORDER_ANNOUNCEMENTS_DONE=3
uint8 ENDED=4

uint8 competition_state

• competition_state: The current state of the competition. One of the following values:

  • IDLE: The competition is idle

  • READY: The competition is ready to start

  • STARTED: The competition has started

  • ORDER_ANNOUNCEMENTS_DONE: The competition has started and all orders have been announced

  • ENDED: The competition has ended

ariac_msgs/msg/ConveyorBeltState

float64 power
bool enabled

• power: The power of the conveyor belt

• enabled: Is the conveyor belt enabled?

ariac_msgs/msg/ConveyorParts

ariac_msgs/PartLot[] parts

• parts: The parts on the conveyor

See also

ariac_msgs/msg/PartLot

ariac_msgs/msg/HumanState

geometry_msgs/Point human_position
geometry_msgs/Point robot_position
geometry_msgs/Vector3 human_velocity
geometry_msgs/Vector3 robot_velocity

• human_position: The position of the human in the workcell

• robot_position: The position of the ceiling robot in the workcell

• human_velocity: The velocity of the human in the workcell

• robot_velocity: The velocity of the ceiling robot in the workcell

See also

• geometry_msgs/msg/Point

• geometry_msgs/msg/Vector3

ariac_msgs/msg/KittingPart

uint8 QUADRANT1=1
uint8 QUADRANT2=2
uint8 QUADRANT3=3
uint8 QUADRANT4=4

ariac_msgs/Part part
uint8 quadrant

• part: The part to be placed in the kit

• quadrant: The quadrant of the kit to place the part in. One of the following values:

  • QUADRANT1: The first quadrant of the kit

  • QUADRANT2: The second quadrant of the kit

  • QUADRANT3: The third quadrant of the kit

  • QUADRANT4: The fourth quadrant of the kit

ariac_msgs/msg/KittingTask

uint8 KITTING=0
uint8 ASSEMBLY_FRONT=1
uint8 ASSEMBLY_BACK=2
uint8 WAREHOUSE=3

uint8 agv_number
int8 tray_id
uint8 destination
ariac_msgs/KittingPart[] parts

• agv_number: The AGV number to deliver the kit to (1, 2, 3, or 4)

• tray_id: The tray number to deliver the kit to (1, 2, 3, 4, 5, or 6)

• destination: The destination of the kit. One of the following values:

  • KITTING: The kit is to be delivered to the kitting station

  • ASSEMBLY_FRONT: The kit is to be delivered to the front assembly station (as1 or as3 depending on the AGV number)

  • ASSEMBLY_BACK: The kit is to be delivered to the back assembly station (as2 or as4 depending on the AGV number)

  • WAREHOUSE: The kit is to be delivered to the warehouse

• parts: The parts to be placed in the kit

See also

ariac_msgs/msg/KittingPart

ariac_msgs/msg/KitTrayPose

int8 id
geometry_msgs/Pose pose

• id: The ID of the kit tray

• pose: The pose of the kit tray

See also

geometry_msgs/Pose

ariac_msgs/msg/Order

uint8 KITTING=0
uint8 ASSEMBLY=1
uint8 COMBINED=2

string id
uint8 type # KITTING, ASSEMBLY, or COMBINED
bool priority
ariac_msgs/KittingTask kitting_task
ariac_msgs/AssemblyTask assembly_task
ariac_msgs/CombinedTask combined_task

• id: The unique identifier for the order

• type: The type of order. One of the following:

  • KITTING: A kitting order

  • ASSEMBLY: An assembly order

  • COMBINED: A combined order

• priority: Whether the order is a priority order

• kitting_task: The kitting task for the order

• assembly_task: The assembly task for the order

• combined_task: The combined task for the order

See also

• ariac_msgs/msg/KittingTask

• ariac_msgs/msg/AssemblyTask

• ariac_msgs/msg/CombinedTask

ariac_msgs/msg/Part

uint8 RED=0
uint8 GREEN=1
uint8 BLUE=2
uint8 ORANGE=3
uint8 PURPLE=4

uint8 BATTERY=10
uint8 PUMP=11
uint8 SENSOR=12
uint8 REGULATOR=13

uint8 color
uint8 type

• color: The color of the part. One of the following values:

  • RED: The part is red

  • GREEN: The part is green

  • BLUE: The part is blue

  • ORANGE: The part is orange

  • PURPLE: The part is purple

• type: The type of the part. One of the following values:

  • BATTERY: The part is a battery

  • PUMP: The part is a pump

  • SENSOR: The part is a sensor

  • REGULATOR: The part is a regulator

ariac_msgs/msg/PartLot

ariac_msgs/Part part
uint8 quantity

• part: The part

• quantity: The quantity of the part

See also

ariac_msgs/msg/Part

ariac_msgs/msg/PartPose

ariac_msgs/Part part
geometry_msgs/Pose pose

• part: The part

• pose: The pose of the part

See also

• ariac_msgs/msg/Part

• geometry_msgs/Pose

ariac_msgs/msg/QualityIssue

bool all_passed
bool missing_part
bool flipped_part
bool faulty_part
bool incorrect_part_type
bool incorrect_part_color

• all_passed: True if all parts passed the quality check, False otherwise

• missing_part: True if a part is missing, False otherwise

• flipped_part: True if a part is flipped, False otherwise

• faulty_part: True if a part is faulty, False otherwise

• incorrect_part_type: True if a part has the wrong type, False otherwise

• incorrect_part_color: True if a part has the wrong color, False otherwise

ariac_msgs/msg/Robots

bool floor_robot
bool ceiling_robot

• floor_robot: Is the floor robot enabled?

• ceiling_robot: Is the ceiling robot enabled?

ariac_msgs/msg/Sensors

bool break_beam
bool proximity
bool laser_profiler
bool lidar
bool camera
bool logical_camera

• break_beam: Is the break beam sensor type enabled?

• proximity: Is the proximity sensor type enabled?

• laser_profiler: Is the laser profiler type enabled?

• lidar: Is the lidar type enabled?

• camera: Is the camera type enabled?

• logical_camera: Is the logical camera type enabled?

ariac_msgs/msg/VacuumGripperState

bool enabled
bool attached
string type

• enabled: Is the suction enabled?

• attached: Is an object attached to the gripper?

• type: The type of the gripper

sensor_msgs/msg/Image

std_msgs/msg/Header header
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data

See also

sensor_msgs/Image

sensor_msgs/msg/LaserScan

std_msgs/msg/Header header
float angle_min
float angle_max
float angle_increment
float time_increment
float scan_time
float range_min
float range_max
float[] ranges
float[] intensities

See also

sensor_msgs/LaserScan

sensor_msgs/msg/PointCloud

std_msgs/msg/Header header
geometry_msgs/msg/Point32[] points
sensor_msgs/msg/ChannelFloat32[] channels

See also

sensor_msgs/PointCloud

sensor_msgs/msg/Range

uint8 ULTRASOUND=0
uint8 INFRARED=1
std_msgs/msg/Header header
uint8 radiation_type
float field_of_view
float min_range
float max_range
float range

See also

sensor_msgs/Range

Service Definitions

ariac_msgs/srv/ChangeGripper

uint8 PART_GRIPPER=1
uint8 TRAY_GRIPPER=2

uint8 gripper_type

---
bool success
string message

• gripper_type: The type of gripper to change to. One of the following values:

  • PART_GRIPPER: Part gripper

  • TRAY_GRIPPER: Tray gripper

• success: True if the gripper was changed successfully, False otherwise

• message: A message describing the result of the service call

ariac_msgs/srv/GetPreAssemblyPoses

string order_id
---
bool valid_id
bool agv_at_station
ariac_msgs/PartPose[] parts

• order_id: The ID of the order to be submitted

• valid_id: True if the order ID is valid, False otherwise

• agv_at_station: True if the AGV is at the station, False otherwise

• parts: The list of parts to be assembled

See also

ariac_msgs/msg/PartPose

ariac_msgs/srv/MoveAGV

int8 KITTING=0
int8 ASSEMBLY_FRONT=1
int8 ASSEMBLY_BACK=2
int8 WAREHOUSE=3

int8 location
---
bool success
string message

• location: The location to move the AGV to. One of the following values:

  • KITTING: Kitting station

  • ASSEMBLY_FRONT: Assembly station front (AS1 or AS3 depending on the AGV ID)

  • ASSEMBLY_BACK: Assembly station back (AS2 or AS4 depending on the AGV ID)

  • WAREHOUSE: Warehouse

• success: True if the AGV was moved successfully, False otherwise

• message: A message describing the result of the service call

ariac_msgs/srv/PerformQualityCheck

string order_id
---
bool valid_id
bool all_passed
bool incorrect_tray
ariac_msgs/QualityIssue quadrant1
ariac_msgs/QualityIssue quadrant2
ariac_msgs/QualityIssue quadrant3
ariac_msgs/QualityIssue quadrant4

• order_id: The ID of the order to be submitted

• valid_id: True if the order ID is valid, False otherwise

• all_passed: True if all parts in the order passed the quality check, False otherwise

• incorrect_tray: True if the detected tray does not have the correct ID for the order, False otherwise

• quadrant1: The quality issue for the first quadrant

• quadrant2: The quality issue for the second quadrant

• quadrant3: The quality issue for the third quadrant

• quadrant4: The quality issue for the fourth quadrant

See also

ariac_msgs/msg/QualityIssue

ariac_msgs/srv/SubmitOrder

string order_id
---
bool success
string message

• order_id: The ID of the order to be submitted

• success: True if the order was submitted successfully, False otherwise

• message: A message describing the result of the service call

ariac_msgs/srv/VacuumGripperControl

bool enable
---
bool success

• enable: True to enable the vacuum gripper, False to disable it

• success: True if the vacuum gripper was enabled/disabled successfully, False otherwise

std_srvs/srv/Trigger

---
boolean success
string message

• success: True if the service call was successful, False otherwise

• message: A message describing the result of the service call