This repository contains a smach-based Finite State Machine (FSM) ROS Python package for sending generic cartesian control commands to floating base robots via CartesI/O.

The package is structured as follows:

• src/states.py defines several generic smach.State that can be used to send commands through CartesI/O API client (moreover, it contains other states that are specific to the INRIA Tiago Dual robot);
• src/sm_factory.py defines "assembler" methods to build the FSM for carrying out the tasks of the 1st euROBIN coopetition;

The scripts folder contains some example ROS nodes to run the FSM. The available nodes are:

• execute_cmd node receives the plan from an LLM service that analyze vocal instructions, assemble and execute the right FSM according to the requested task;
• homing node commands to robot to go in its home configuration;
• update_odom node resets the floating base state in CartesI\O according to the measured odometry;
• dummy_fsm node is a simple example that makes the robot executes dummy motions using differen modalities;
• pick_object_from_table node is an example of a more concrete FSM for a pick-and-place application.

The config folder contains the YAML files describing the motions, and the demonstrated trajectories (saved as npy files inside sub-folder demo) for replay.

You can try a docker example with a simulated Tiago Dual (omnibase) developed by PAL Robotics (CartesI/O configuration at the link: (https://github.com/hucebot/tiago_dual_cartesio_config)).

To build the docker image, from the inria_fsm_cartesio/docker folder, run:

bash build.sh

To run the container, form the inria_fsm_cartesio/docker folder, run:

bash launch.sh

Then run:

terminator

Inside terminator, open a first terminal and run:

roscore

In a second terminal, launch CartesI/O for the Tiago Dual robot:

mon launch tiago_dual_cartesio_config cartesio.launch

Here you can try out CartesI/O interactive marker to move the robot around.

If you want to try also the FSM, in a third terminal run:

rosrun fsm_cartesio dummy_fsm

The dummy_fsm node offers a basic example on how to start creating smach FSM using CartesI/O functionalities.