ai_game_manager

Description

Provides a lib to be imported from other node to make them detected by the system and to react to special events (arm for example). Contains also a node that maintain information about the state of the nodes connected through the lib.

Authors and versions

• v0.0.0 (A17) @MadeInPierre @furmi
  • Package created
  • Node and python lib added
• v0.0.1 (A17/P18) @Mindstan
  • Cpp lib added

Configuration

How to integrate the node in other packages

Common configuration

• In package.xml, add this package:

<depend>ai_game_manager</depend>

• In CMakeLists.txt:

find_package(catkin REQUIRED COMPONENTS
    ...
    ai_game_manager
)

C++ specific:

First of all, the library must be included in your code:

#include "ai_game_manager/init_service.h"

Then, you need to instantiate a StatusServices object and call the member function setReady when you're done initializing your node:

StatusServices gameStatusSrv("namespace", "node_name");
gameStatusSrv.setReady(true);

Optionally, the constructor of StatusServices can take two pointers on a function (std::function, works with lambdas):

• A function returning void and taking as parameter const ai_game_manager::ArmRequest::ConstPtr& that will be call when an arm event is fired. For example:

StatusServices(
    "namespace",
    "node_name",
    [](const ai_game_manager::ArmRequest::ConstPtr &) {
            // Do something incredible on arm event
});

• A function returning void and taking as parameter const ai_game_manager::GameStatus::ConstPtr& that will be call with the new status.

Communication

The library

Clients and subscribtions

Topic Name	Type	Function
/ai/game_manager/node_ready	Service	Used by the node to tell this package's node when it finished its initialization and if it succeeded.
/ai/game_manager/arm	Topic	(Optional) Trigger the arm event if needed in the node
/ai/game_manager/status	Topic	(Optional) Allow the node to be notified when the status of the game is changing (game starts/stops, etc).

The node