Configuration scheme of a skill

rbs_bt_executor/config/params.yaml

@@ -9,6 +9,7 @@ bt_engine:
             "rbs_pose_estimation",
             "rbs_object_detection",
             "rbs_env_manager_starter",
-            "rbs_skill_move_topose_array_bt_action_client"
+            "rbs_skill_move_topose_array_bt_action_client",
+            "rbs_interface"
             ]
         

rbs_perception/config/PoseEstimation.json

@@ -6,7 +6,7 @@
         "name": "PoseEstimation", "description": "Pose Estimation skill with DOPE"
     },
     "Launch": {
-        "executable": "pose_estimation_lifecycle.py"
+        "executable": "pe_dope_lc.py"
     },
     "ROS2": {
         "node_name": "lc_dope"
@@ -27,42 +27,5 @@
             "result":[]
         }
     ],
-    "Interface": {
-        "Input": [
-             {
-                "name": "cameraLink", "type": "CAMERA"
-             },
-             {
-                "name": "object_name", "type": "MODEL"
-             }
-            ],
-        "Output": 
-            [
-             {
-                "name": "pose_estimation_topic", "type": "POSE"
-             }
-            ]
-    },
-    "Settings": [
-            {
-                "name": "cameraLink", "value": "inner_rgbd_camera"
-            },
-            {
-                "name": "pose", "value": ""
-            },
-            {
-                "name": "publishDelay", "value": 0.5
-            },
-            {
-                "name": "tf2_send_pose", "value": 1
-            },
-            {
-                "name": "mesh_scale", "value": 0.001
-            }
-        ],
-    "xxx": {
-        "cameraLink":"inner_rgbd_camera",
-        "topicImage":"/inner_rgbd_camera/image",
-        "topicCameraInfo":"/inner_rgbd_camera/camera_info"
-    }       
+    "Settings": []
 }

rbs_perception/config/skill_scheme.json

@@ -0,0 +1,34 @@
+ENUM CFG_FORMAT = "yaml","json"
+ENUM ACTION_TYPE = "run","stop"
+
+BTACTION = {
+    "name": ${NAME:string:"Configure"},
+    "format": ${enum:CFG_FORMAT:"yaml"},
+    "type": ${enum:ACTION_TYPE:"run"},
+    "param": ${ARRAY:string:[]},
+    "result": ${ARRAY:string:[]}
+}
+SETTING = {
+    "name": ${NAME:string:""},
+    "value": ${VALUE:string:""}
+}
+
+{
+    "SkillPackage": {
+        "name": ${NAME:constant:"Robossembler"},
+        "version": ${VERSION:constant:"1.0"},
+        "format": ${FORMAT:constant:"1"}
+    },
+    "Module": {
+        "name": ${NAME:string:"skill_scheme"},
+        "description": ${DESCRIPTION:string:"Configuration scheme of a skill"}
+    },
+    "Launch": {
+        "executable": ${EXE:string:"node_lc.py"}
+    },
+    "ROS2": {
+        "node_name": ${NODE_NAME:string:"lc_implementation"}
+    },
+    "BTAction": ${ARRAY:BTACTION:[]},
+    "Settings": ${ARRAY:SETTING:[]}
+}