Hello Team,
We are in the process of designing a mobile cobot (AMRs with a cobot) and found Isaac Mission technology to be suitable for what we want to accomplish, i.e., send a mission to the AMR to traverse a path and achieve a manipulation operation too. There would be multiple waypoints within the same mission.
Having gone through the Isaac Mission documentation (for Dispatch service and client), there are 2 key object types - Route and Action
We want to understand the following
- On receiving the “route” order from the dispatch server, the client (also a ROS 2 node) is supposed to invoke the Nav2 node of the AMR. This is still possible even if the AMR is from a different vendor, let’s say Hik-Robotics. Is this right?
- The “action” call/order from the dispatch seems to carry only the action name and some parameters. The actual logic of the action would be something that the client should resolve and instruct the AMR? Is there an actual example of passing a valid action to the client? as in asking the AMR to lift a pallet?
Excerpt from the documentation
|action|Optional[object]|name(string): The name of the action to trigger on the robot
params(json): An arbitrary, action-specific JSON payload to send as parameters to the action|Performs some generic, named action on the robot.|
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I
Thanks in Advance
Cheers
Sriram