Reasoning Action

reasoning_action.py

Overview

reasoning_action.py is a high-level task orchestrator that converts symbolic “table commands” (PLACE, CLEAR, …) and a navigation path into three concrete ROS Action goals:

• movement_control – drives the mobile base along the path

• arm_control – moves the wrist / forearm to the working pose

• gripper_control – opens or closes the gripper

When the whole macro succeeds—or when any step fails—the node emits one human-readable feedback message for GUIs, loggers, or supervisor FSMs.

Interfaces (strongly-typed, partially stateful)

Direction	Name	Type	Notes
Required	/{robot}/planned_path	nav_msgs/Path	Global or local path from the planner
Required	/{robot}/table_reasoning_commands	std_msgs/String	Symbolic keyword (PLACE, CLEAR, …)
Provided	/{robot}/feedback_acion	std_msgs/String	“Busy” → doing a task, “Free” → finished/failed
Action client	/{robot}/movement_control	tiago1/MovementControlAction	Executes the navigation path
Action client	/{robot}/arm_control	tiago1/ArmControlAction	Positions forearm / wrist
Action client	/{robot}/gripper_control	tiago1/GripperControlAction	Grips or releases the dish

Contract

Pre-conditions

• All three Action servers are running (checked at startup).

• Path and command topics share the same robot namespace.

Post-conditions

• Exactly one feedback line per task: “Busy” at start, “Free” when done.

• Arm & gripper goals are sent only if base motion succeeds.

Statefulness

The node keeps an internal flag path_received so each incoming path is executed once; after completion the flag resets.

Customisation hooks

Override perform_table_command() (or the private _run_manipulation_sequence()) to map each symbolic keyword onto a custom sequence of arm/gripper goals.

class reasoning_action.ReasoningAction

Bases: object

Coordinates navigation + manipulation through three ActionLib clients.

Variables

path_receivedbool

Becomes True when a new path topic arrives; cleared after use.

path_msgnav_msgs.msg.Path | None

The most recent path waiting to be executed.

task_feedback_pubrospy.Publisher

Latched channel for GUIs / loggers → “Busy” / “Free”.

movement_client / arm_client / gripper_clientactionlib.SimpleActionClient

Pre-connected clients; wait_for_servers() blocks until ready.

loop() → None

0.3 Hz cycle (≈ every 3 s):

• if a new path is queued → send to base, wait blocking;

• on success → run arm & gripper macros;

• publish “Busy” / “Free” to feedback topic.

path_callback(msg: nav_msgs.msg.Path) → None

Store the planner path for use in the main loop.

perform_table_command(decision: str) → None

Map symbolic command to arm/gripper macros.

Stub does nothing so the example compiles; override in subclasses:

• PLACE → lower arm, open gripper

• CLEAR → close gripper, raise arm

table_command_callback(msg: std_msgs.msg.String) → None

Forward symbolic keyword (PLACE, CLEAR, …) to perform_table_command().

wait_for_servers() → None

Poll each ActionLib server at 1 Hz until base, arm and gripper controllers are ready. Prevents goal loss at boot.