Radio Node Manager skeleton. Base idea, with some working parts.

.gitignore

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+*~
+*.swp

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(radio_node_manager)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES motion_detection_sensor_status_subscriber
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a C++ library
+# add_library(motion_detection_sensor_status_subscriber
+#   src/${PROJECT_NAME}/motion_detection_sensor_status_subscriber.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(motion_detection_sensor_status_subscriber ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(motion_detection_sensor_status_subscriber_node src/motion_detection_sensor_status_subscriber_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(motion_detection_sensor_status_subscriber_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(motion_detection_sensor_status_subscriber_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS motion_detection_sensor_status_subscriber motion_detection_sensor_status_subscriber_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_motion_detection_sensor_status_subscriber.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>radio_node_manager</name>
+  <version>0.1.0</version>
+  <description>The radio_node_manager package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="gstavrinos@iit.demokritos.gr">gstavrinos</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/motion_detection_sensor_status_subscriber</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>motion_detection_sensor_msgs</build_depend>
+  <run_depend>motion_detection_sensor_msgs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/node_manager.py

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+#!/usr/bin/env python
+import roslib, rospy
+import subprocess, shlex
+from motion_detection_sensor_msgs.msg import SensorStatusMsg
+import math
+from actionlib_msgs.msg import GoalStatusArray
+
+motion_analysis_package_name = ''
+motion_analysis_launch_filename = ''
+running_motion_analysis = False
+motion_analysis_process = None
+goal_point = []
+#first_detect becomes false the first time we see 'ok'
+#from the motion detection sensor, to ensure that
+#the first 'detect' values are not from the human's
+#movements approaching and lying to bed.
+first_detect = True
+movement_sensor_sub = None
+navigating = False
+
+
+#TODO on launch, set initial navigation pose. We know that we are in
+#the docking station, charging.
+
+
+def init():
+    global movement_sensor_sub
+    rospy.init_node('radio_node_manager')
+    movement_sensor_sub = rospy.Subscriber('motion_detection_sensor_status_publisher/status', SensorStatusMsg, movementStatus)
+    rospy.Subscriber('move_base/status', GoalStatusArray, currentRobotPosition)
+    while not rospy.is_shutdown():  
+        rospy.spin()
+
+'''
+0   # The goal has yet to be processed by the action server
+1   # The goal is currently being processed by the action server
+2   # The goal received a cancel request after it started executing
+    # and has since completed its execution (Terminal State)
+3   # The goal was achieved successfully by the action server (Terminal State)
+4   # The goal was aborted during execution by the action server due
+    # to some failure (Terminal State)
+5   # The goal was rejected by the action server without being processed,
+    # because the goal was unattainable or invalid (Terminal State)
+6   # The goal received a cancel request after it started executing
+    # and has not yet completed execution
+7   # The goal received a cancel request before it started executing,
+    # but the action server has not yet confirmed that the goal is canceled
+8   # The goal received a cancel request before it started executing
+    # and was successfully cancelled (Terminal State)
+9   # An action client can determine that a goal is LOST. This should not be
+    # sent over the wire by an action server
+'''
+
+
+def currentRobotPosition(current_status_msg):
+    global goal_point, goal_reached, navigating
+    status =  current_status_msg.status_list[0].status
+    if navigating:
+        if status == 3:
+            navigating = False
+            print 'Starting motion_analysis'
+            print 'Starting HPR'
+
+        if status > 3:
+            print 'Send navigation error to the user'
+    else:
+        if status == 1:
+            print 'Stopping motion analysis'
+            print 'Stopping HPR'
+            navigating = True
+
+
+def movementStatus(ssm):
+    global running_motion_analysis, motion_analysis_process, first_detect
+    global movement_sensor_sub
+    cur_st = ssm.status
+    if cur_st == 'ok':
+        print 'Got an ok!'
+        if first_detect:
+            first_detect = False
+            print 'Waiting for an actual detection now'
+        '''
+        if running_motion_analysis:
+            command = "rosnode kill motion_analysis"
+            command = shlex.split(command)
+            motion_analysis_process = subprocess.Popen(command)
+            running_motion_analysis = 
+        '''
+
+    elif not first_detect and cur_st == 'detect':
+        print 'Unsubscribing from the movement sensor...'
+        movement_sensor_sub.unregister()
+        print 'Starting motion_analysis'
+        print 'Starting HPR'
+        '''
+        if not running_motion_analysis:
+            command = "roslaunch motion_analysis event_detection.launch"
+            command = shlex.split(command)
+            motion_analysis_process = subprocess.Popen(command)
+            running_motion_analysis = True
+        '''
+
+
+if __name__ == '__main__':
+    init()