WEBVTT 00:00.110 --> 00:07.400 In this lesson, we are going to start the task server and see how it interacts with the movie API to 00:07.430 --> 00:10.400 move the robot to a predefined position. 00:10.430 --> 00:16.940 In order to do so, let's create a new launch file within the Arduino bot remote package. 00:16.940 --> 00:21.710 So here let's create a new folder called launch. 00:21.710 --> 00:32.570 And here within this folder let's create a new file called Remote interface dot launch dot pi. 00:32.600 --> 00:33.200 Perfect. 00:33.200 --> 00:38.900 And here in this launch file we are going to insert all the functionalities that we are going to create 00:38.900 --> 00:41.240 here within the Arduino bot remote package. 00:41.240 --> 00:46.640 And that will allow our robot to communicate with the Alexa voice assistant. 00:46.760 --> 00:53.420 So here within this remote interface launch dot Pi, we can actually copy all the instructions that 00:53.420 --> 00:59.390 we've used here within the Arduino Bot Pi examples package within the launch folder, and that we've 00:59.420 --> 01:03.190 used for the execution of the simple move it interface. 01:03.190 --> 01:10.060 In fact, also for the task server and especially for the implementation of the Python of the task server, 01:10.060 --> 01:16.180 we are going to use this move it configuration here that we have also used for the simple move with 01:16.180 --> 01:21.280 interface of the Python package, so of the Arduino Pi examples. 01:21.280 --> 01:24.760 So let's copy all of this and let's paste it here. 01:24.760 --> 01:27.970 So within the remote interface launch dot Pi. 01:28.000 --> 01:30.040 And here the thing that we need to do. 01:30.040 --> 01:33.370 So here we need to change this one is fine. 01:33.370 --> 01:39.190 So this is the move it configuration that you are going to use in order to configure the task server. 01:39.190 --> 01:45.340 So let's start the task server node Pi. 01:45.370 --> 01:53.200 So the Python implementation that we have created in the Arduino bot remote package and that we have 01:53.200 --> 01:57.940 called task server dot Pi. 01:57.970 --> 01:58.690 Perfect. 01:58.690 --> 02:01.360 And to this file here we need to import. 02:01.360 --> 02:03.910 So we need to provide this one here. 02:03.910 --> 02:09.250 So the movie configuration that is all of this movie configuration here. 02:09.280 --> 02:12.610 Now here instead of hard coding the value. 02:12.640 --> 02:13.120 True. 02:13.120 --> 02:21.970 So instead of hard coding this value here, let's declare a new launch argument so we can import from 02:22.780 --> 02:28.900 the launch actions the declare launch argument. 02:28.900 --> 02:35.170 And now let's create a new variable that is called is same argument. 02:35.170 --> 02:38.530 And this is an instance of the declare launch argument. 02:38.530 --> 02:46.540 And we can use this one in order to declare a new argument of this launch file that is called easy perfect. 02:46.540 --> 02:51.310 And then we can also assign a default value to this parameter. 02:51.490 --> 02:55.180 And for example, let's set it to true perfect. 02:55.180 --> 03:00.370 So this one here will indicate whether we are starting the remote interface. 03:00.370 --> 03:05.250 So all of these functionalities for the simulated robot or for the real one. 03:05.280 --> 03:10.770 Then let's also declare another argument that is called use Python. 03:10.800 --> 03:11.730 Argument. 03:11.730 --> 03:15.600 Again, this is an instance of the declare launch argument. 03:15.630 --> 03:17.190 And let's give it a name. 03:17.190 --> 03:21.810 Let's call it use Python and by default. 03:23.220 --> 03:24.960 So let's assign a default value. 03:24.960 --> 03:27.300 And by default I'm setting this one to. 03:27.330 --> 03:27.840 False. 03:27.840 --> 03:33.510 So by default I'm going to start the C plus plus implementation of the task server. 03:33.540 --> 03:35.640 Now after this one here. 03:35.640 --> 03:40.410 So after declaring these two parameters let's also read the runtime value. 03:40.410 --> 03:44.580 So the value that actually they have when we execute this launch file. 03:45.030 --> 03:53.550 So from the launch substitutions let's import the launch configuration. 03:53.580 --> 03:54.150 Perfect. 03:54.150 --> 03:56.910 And now we can create two variables of this type. 03:56.910 --> 03:58.980 So two variables of this class here. 03:59.220 --> 04:01.800 The first one is called is sim. 04:02.100 --> 04:05.170 So this is an instance of the launch configuration. 04:05.170 --> 04:08.140 And we want to read this parameter here. 04:08.140 --> 04:11.260 So the value of the ECM argument. 04:11.260 --> 04:18.580 And then also let's create a new one that is called use Python that we want to use in order to read 04:19.540 --> 04:21.160 this argument here. 04:21.160 --> 04:24.550 So the use Python variable perfect. 04:24.580 --> 04:26.920 Now we want to use these two variables. 04:26.920 --> 04:30.130 So the ECM is the one that we can use here. 04:30.130 --> 04:36.610 So instead of hard coding the value of the users in time we can just use the ECM. 04:36.670 --> 04:39.070 And now instead the other variable. 04:39.070 --> 04:40.510 So the use Python. 04:40.540 --> 04:47.560 Here we can use this one in order to start the Python implementation of the task server or the C plus 04:47.560 --> 04:48.910 plus implementation. 04:49.090 --> 04:55.720 So we can import another class, this time from the launch conditions. 04:57.010 --> 04:59.830 We can import the if condition. 04:59.980 --> 05:03.310 And also we can import the unless condition class. 05:03.390 --> 05:07.440 So here this one here is the task server node. 05:07.440 --> 05:10.140 So the implementation of the task server in Python. 05:10.320 --> 05:12.420 And actually we want to start this one. 05:12.420 --> 05:19.830 So we want to start the Python implementation of the task server only when the condition. 05:21.030 --> 05:25.710 So only if the use Python. 05:27.750 --> 05:29.880 Argument is set to true. 05:29.910 --> 05:32.460 So basically this is a conditional node. 05:32.460 --> 05:37.770 And we are going to start this one here only when the use Python is set to true. 05:37.800 --> 05:43.650 Otherwise if this one is set to false we want to start the C plus plus implementation. 05:43.680 --> 05:45.270 So we can copy this one. 05:45.420 --> 05:46.920 And we can paste it. 05:46.920 --> 05:50.370 And let's simply call it task server node. 05:50.370 --> 05:56.550 And again from the Arduino board remote package we want to start the executable called task server. 05:56.550 --> 05:58.980 So this is the C plus plus executable. 05:58.980 --> 06:02.690 And actually it is called task server node. 06:03.720 --> 06:04.170 Perfect. 06:04.170 --> 06:08.520 So this is the name of the executable and we want to start it unless. 06:09.390 --> 06:13.800 So unless the use Python is set to true. 06:13.800 --> 06:15.540 Basically we are saying that we want to. 06:15.570 --> 06:22.230 Start the C plus plus implementation if the use Python is set to false, and in this case, the only 06:22.230 --> 06:28.140 parameter that we need to set to this node is the use sim time that again we can set it equal to the 06:28.470 --> 06:29.910 sim variable. 06:30.630 --> 06:31.350 Perfect. 06:31.350 --> 06:34.260 So with this we have declared all the functions. 06:34.260 --> 06:38.400 So all the actions that we want to execute for the moment with this launch file. 06:38.400 --> 06:41.730 So actually this will just start the task server. 06:41.730 --> 06:46.650 And it will either start the C plus plus implementation or the Python one. 06:46.650 --> 06:52.980 And also if we are starting the Python implementation it will configure it using this class here. 06:52.980 --> 06:55.170 So the move it configuration builder. 06:55.380 --> 06:56.850 Now let's go here. 06:56.850 --> 07:03.420 So in the launch description and let's start by declaring the use Python argument. 07:03.420 --> 07:05.720 Then the easy argument. 07:05.720 --> 07:11.990 And then let's start the task server node pie or the task server node. 07:11.990 --> 07:17.570 So let's start the Python or the C plus plus implementation depending on this value here. 07:17.570 --> 07:20.990 So depending on this variable here perfect. 07:20.990 --> 07:22.910 So we can save this file. 07:22.910 --> 07:24.890 And as we have created a new folder. 07:24.890 --> 07:29.300 So we have created the launch folder within the Arduino bot remote package. 07:29.300 --> 07:30.590 We need to install it. 07:30.590 --> 07:33.080 So let's open the file cmake list. 07:33.320 --> 07:38.090 And here we need a new install instruction. 07:38.090 --> 07:38.750 Perfect. 07:38.750 --> 07:40.430 And we want to install the. 07:43.280 --> 07:46.310 Directory that is the launch folder. 07:48.020 --> 07:52.580 And we want to install it at the destination that is the shared folder. 07:52.580 --> 07:56.720 And within the subfolder that is called as the package itself. 07:56.750 --> 07:59.780 So we can use the project name variable. 07:59.780 --> 08:05.100 And actually this one is a variable that simply contains the name of the package that is Arduino bot 08:05.130 --> 08:06.060 remote. 08:06.330 --> 08:07.140 Perfect. 08:07.140 --> 08:09.690 So we have installed also the launch folder. 08:09.690 --> 08:11.880 So we can save also this file here. 08:11.880 --> 08:15.420 And we can add the missing dependencies also here. 08:15.420 --> 08:17.640 So to the package dot XML. 08:17.670 --> 08:24.870 In fact here we need to add an execution dependency from the Ros2 launch package. 08:24.870 --> 08:30.300 And also we need to add another execution dependency from the Arduino bot. 08:31.140 --> 08:32.430 Move it package. 08:32.430 --> 08:33.300 Perfect. 08:33.300 --> 08:36.630 So let's save also the package dot XML. 08:36.630 --> 08:40.380 And now we can finally start the task server node. 08:40.530 --> 08:45.690 So let's close this and let's open a new terminal here. 08:45.990 --> 08:47.580 Let's go to the workspace. 08:47.910 --> 08:49.800 And let's start by building it. 08:49.800 --> 08:53.580 So we are compiling the new launch file that we have created. 08:53.580 --> 08:55.890 And then let's open a new window of the terminal. 08:55.890 --> 08:57.660 Let's make this one bigger. 08:57.660 --> 09:01.140 And let's start the gazebo simulation of our robot. 09:01.470 --> 09:09.040 So let's source the workspace And let's launch from the Arduino bot description package. 09:09.040 --> 09:11.260 The gazebo launch dot Pi. 09:15.790 --> 09:16.480 Perfect. 09:16.480 --> 09:19.600 So this started the gazebo simulation of our robot. 09:19.630 --> 09:22.630 Now let's also start the control system. 09:22.660 --> 09:30.220 So in a new terminal, let's source the workspace and let's launch from the Arduino bot controller. 09:30.250 --> 09:35.410 The file controller dot launched Pi a perfect. 09:35.410 --> 09:41.680 So we have the confirmation that we are configuring and activating both the ARM controller and also 09:41.710 --> 09:42.910 the gripper controller. 09:42.940 --> 09:43.630 Perfect. 09:43.630 --> 09:46.120 So now we can also start move it. 09:46.210 --> 09:54.460 So in a new window of the terminal again let's source the workspace and let's launch from the Arduino 09:54.460 --> 09:54.790 bot. 09:54.820 --> 09:55.660 Move it. 09:55.960 --> 09:58.120 Let's start the launch file that we have called. 09:58.120 --> 10:00.010 Move it dot dot pi. 10:00.040 --> 10:00.940 Perfect. 10:00.970 --> 10:02.860 So with this we are starting. 10:02.860 --> 10:03.640 Move it. 10:03.640 --> 10:09.920 And also it will start a service with the graphical user interface that we can use in order to move 10:09.920 --> 10:10.700 our robot. 10:10.700 --> 10:15.980 But for the moment, actually we are not interested in this graphical user interface because we want 10:15.980 --> 10:18.440 to move our robot using the task server. 10:18.440 --> 10:23.720 So let's close this one and instead we can start the task server. 10:23.900 --> 10:26.180 So let's open a new window of the terminal. 10:26.180 --> 10:29.150 And here again we can search the workspace. 10:31.280 --> 10:36.230 And we can launch the Arduino robot remote launch file that we have just created. 10:36.230 --> 10:38.870 So we trust to launch. 10:38.900 --> 10:43.940 And from the Arduino robot remote, let's start the launch file that we have called. 10:43.940 --> 10:48.470 So this one here the remote interface dot launch. 10:48.470 --> 10:49.970 So let's press enter. 10:49.970 --> 10:52.910 And this is starting the task server. 10:52.940 --> 10:57.500 Actually this is starting the Cplusplus implementation of the task server. 10:57.500 --> 11:04.850 And if you want to start the Python one here you simply have to use the argument use Python and you 11:04.850 --> 11:07.080 have to set this one to true. 11:07.110 --> 11:11.280 So now I'm going to restart just the C plus plus implementation. 11:11.310 --> 11:12.960 So let's press enter. 11:12.960 --> 11:17.520 So here we have the configuration that our task server is up and running. 11:17.520 --> 11:21.540 And now actually we can like use a new terminal. 11:22.440 --> 11:25.290 So let's open a new terminal. 11:26.100 --> 11:26.880 Perfect. 11:26.880 --> 11:27.960 Like this. 11:27.960 --> 11:31.650 So that we can actually see our robot in gazebo. 11:31.650 --> 11:35.850 And we can actually start interacting within this terminal with the task server. 11:35.850 --> 11:39.360 So the old one is still up and running the old terminal. 11:39.570 --> 11:47.070 But let's make this one a little bit bigger so that we can interact here in this terminal with the task 11:47.070 --> 11:47.790 server. 11:47.850 --> 11:55.590 Now we can first see that actually the task server is up and running with Ros2 action list. 11:55.770 --> 11:56.820 And here we go. 11:56.850 --> 11:58.890 This is our task server. 11:58.890 --> 12:01.080 And now we can finally start it. 12:01.080 --> 12:02.850 So we can finally trigger it. 12:02.880 --> 12:05.220 We can finally send a goal to it. 12:05.280 --> 12:10.640 So first Also in this case we need to go to the workspace and to source it. 12:10.670 --> 12:11.540 Perfect. 12:11.540 --> 12:17.360 And from now on we can use the command Ros2 action send goal. 12:17.360 --> 12:24.410 So we are creating basically with this command, an action client that is sending a goal to the task 12:24.410 --> 12:25.190 server. 12:26.120 --> 12:28.880 So to the action server that is called task server. 12:28.880 --> 12:35.600 Then if we press tab twice, we can see that the task server is accepting messages of this type. 12:35.600 --> 12:38.060 So belonging to this interface here. 12:39.110 --> 12:42.980 So to the Arduino both messages and to the Arduino task. 12:42.980 --> 12:43.850 Perfect. 12:43.850 --> 12:45.470 Then let's use the double quotes. 12:45.500 --> 12:47.420 Let's press tab again. 12:47.480 --> 12:52.700 And here we can see that this one is the only value of the goal message. 12:52.820 --> 12:57.500 So let's type the letter T and then let's press tab. 12:57.500 --> 12:59.600 And for example let's set. 12:59.630 --> 13:04.160 So let's send the robot to execute the task number one. 13:04.160 --> 13:05.840 So let's press enter. 13:05.870 --> 13:13.080 Now we are conducting the task server and we can see that the robot is moving to a peak position. 13:13.710 --> 13:18.270 And so we can see that this one is the hypothetical peak position that we have set. 13:18.300 --> 13:21.300 Now for example, let's move the robot also. 13:21.300 --> 13:24.330 So let's execute the task number zero. 13:24.330 --> 13:27.930 So this will bring again the robot to its initial position. 13:27.930 --> 13:29.610 So to the on position. 13:32.610 --> 13:33.630 And this is it. 13:33.630 --> 13:36.450 So now the robot is in the on position. 13:36.450 --> 13:42.120 And then for example let's try also the last task number that is the task number two. 13:42.150 --> 13:46.860 And so this instead will send the robot to a rest position. 13:46.860 --> 13:52.020 And so this is the rest position of the robot where the robot is bent on itself. 13:52.020 --> 13:57.570 And so with this we have tested the three tasks that we have configured for our robot. 13:57.570 --> 14:00.420 And that we can either call manually. 14:00.420 --> 14:07.020 So with this command here, and that in the following lessons will be triggered by the Alexa voice assistant 14:07.470 --> 14:08.160 Arthur.