Team Guidance Layer¶

The guidance level is a control layer providing high-level commands to the lower layers.

Base Guidance classes¶

Here we provide the documentation for the base Guidance classes that must be extended for the various scenarios.

Guidance¶

class choirbot.guidance.Guidance(pose_handler=None, pose_topic=None, pose_callback=None)[source]¶

Bases: rclpy.node.Node

Base ROS node for guidance level

This is the base class for the guidance level in a multi-robot scenario. This is a basic class and should be extended before instantiation.

The following ROS parameters must be set in order to instantiate the class:

N (int): total number of agents in the network

agent_id (int): ID of current agent (ranging from 0 to N-1)

in_neigh (list): list of in-neighbors

out_neigh (list): list of out-neighbors

agent_id¶: ID of agent

n_agents¶: Total number of agents

in_neighbors¶: List of in-neighbors

out_neighbors¶: List of in-neighbors

current_pose¶: Current robot pose

communicator¶: Neighboring communication facilities

__init__(pose_handler=None, pose_topic=None, pose_callback=None)[source]¶

Parameters

pose_handler (str, optional) – Pose handler (see pose_subscribe()). Defaults to None.
pose_topic (str, optional) – Topic where pose is published. Defaults to None.

OptimizationGuidance¶

class choirbot.guidance.OptimizationGuidance(optimizer, thread_t, pose_handler=None, pose_topic=None, pose_callback=None)[source]¶

Bases: choirbot.guidance.guidance.Guidance

Base ROS node for guidance level with optimization features

This Guidance class provides optimization-related features. This is an abstract class and is intended to be extended before instantiation. See Guidance for information on the required ROS parameters.

optimizer¶: Optimizer class

optimization_thread¶: Separate thread performing optimization

__init__(optimizer, thread_t, pose_handler=None, pose_topic=None, pose_callback=None)[source]¶

Parameters

optimizer (Optimizer) – optimizer to be run by thread
thread_t (Type[OptimizationThread]) – Type of optimization thread to be instantiated
pose_handler (str, optional) – Pose handler (see pose_subscribe()). Defaults to None.
pose_topic (str, optional) – Topic where pose is published. Defaults to None.

Optimization Threads¶

Optimization threads are an attribute of OptimizationGuidance and are used to solve optimization problems or to run distributed optimization algorithms on a separate thread.

OptimizationThread¶

class choirbot.guidance.optimization_thread.OptimizationThread(guidance, optimizer, gc_end)[source]¶

Bases: threading.Thread

Base class representing separate thread in which optimization tasks are performed.

This is an abstract class and is intended to be extended before instantiation.

optimizer¶: Optimizer class

__init__(guidance, optimizer, gc_end)[source]¶

Parameters

guidance (Guidance) – Guidance object
optimizer (Optimizer) – Optimizer object
gc_end (rclpy.guard_condition.GuardCondition) – Guard Condition triggered at end of each optimization

do_optimize()[source]¶: TODO

halt()[source]¶: TODO

optimize()[source]¶: TODO

quit()[source]¶: TODO

Complex Guidance classes¶

Here is a list of the implemented guidance scenarios.