RoAH RSBB Comm ROS

Introduction
This pages details the topics required for communicating with the RoCKIn@Home Referee, Scoring and Benchmarking Box.

The repository RoAH RSBB Comm and the information on this page is from https://github.com/rockin-robot-challenge/at_home_rsbb_comm

Using the Node
During operation, the node always publishes some topics. Topics and services for the benchmarks are only available when the benchmark starts and  becomes something not .

Some topics are common to all benchmarks: Topic  should be used to send to the RSBB some kind of metric that shows that offline messages are being saved. Number of messages or size of the bag file can be used. This information is only used to issue a warning as soon as possible if data is not being recorded.

Topic  has 3 possibilities: After, for multiple goals (in functionality benchmarks) will be issued again until there are no more goals.
 * STOP : Stop the robot.
 * PREPARE : Prepare for benchmark. Move to position.
 * EXECUTE : Execute goal.

The robot can signal that  or   are complete using the services:

Getting to know my home
No special topics or services.

Object Perception Functionality
This benchmark has a result, therefore the service has a different type.

Object Manipulation Functionality
This benchmark has specific goals, therefore a new topic is needed. Note that  and   change almost simultaneously but in an undefined order. For this benchmark alone you can assume that whenever a goal is published the state has changed to. Therefore, you only need to receive the and  states on the state topic.

Speech Understanding Functionality
No special topics or services.

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