plan_maintainer

Plan Maintainer

Overview

The Plan Maintainer module is in charge of monitoring the execution of the Shared Plan based on the current world state and current and past actions. It publishes the list of actions from the Shared Plan which need to be performed at a given moment and the list of actions from the Shared Plan which need to be done later. It also checks the consistency of the plan and reports to the Plan Elaboration module in case of failure or unexpected situations.

Services and topics

Provided services

• plan_maintainer/stop: to use whenever the plan needs to be stopped (std_srvs/Trigger)

Published topics

• /plan_maintainer/actions_todo: actions of the current plan to be performed now (supervisor_msgs/ActionsList)
• /plan_maintainer/planned_actions: actions of the current plan to be performed later (supervisor_msgs/ActionsList)

Subscribed topics

• /plan_elaboration/plan: current plan (supervisor_msgs/SharedPlan)
• /action_executor/current_robot_action: current robot action (supervisor_msgs/Action)
• /mental_states/previous_actions: previous executed actions (supervisor_msgs/ActionsList)