ARIAC Interface

GEAR provides a ROS interface to the teams participating in ARIAC. This interface can be used by teams to control all available actuators, read sensor information and send/receive notifications.

During the competition, it is against the rules to control the ARIAC simulation using anything other than the interface specified below. Teams are not permitted to use any of the topics or services in the /gazebo/ namespace prefix to control the Gazebo simulation or get information about the simulation state. These interfaces will be blocked during the Finals.

Comming soon: hands-on tutorial on interfacing with GEAR through command line tools

Comming soon: tutorial on interfacing with GEAR through a ROS node

Sensors

Topic name	Message/Service	Description	Message definition
/ariac/{name}	Message	Break beam's output	osrf_gear/Proximity.msg
/ariac/{name}_change	Message	Break beam's output (output changes only)	osrf_gear/Proximity.msg
/ariac/{name}	Message	Proximity sensor's output	sensor_msgs/Range.msg
/ariac/{name}	Message	Laser profiler's output	sensor_msgs/LaserScan.msg
/ariac/{name}	Message	Depth camera's output	sensor_msgs/PointCloud.msg
/ariac/{name}	Message	Logical camera's output	osrf_gear/LogicalCameraImage.msg

Note: The string {name} is replaced with the name you give the sensor in the config file. See: https://bitbucket.org/osrf/ariac/wiki/2019/configuration_spec Since the sensor names are unique, it ensures that all sensors publish data to unique topics.

TF frames

TF frames for static key points of the workcell are published by the ARIAC simulation. Dynamic TF frames for the arm and faulty products are also published by the simulation. Other dynamic TF frames can be accessed through logical cameras.

The following frames are published on the global /tf and /tf_static topics.

Description	TF frame	Type
Origin of the workcell	world	static
Each sensor	`{sensor_name}_frame`, e.g. `logical_camera_1_frame`	static
Bin storage units	`bin{N}_frame`, where N=1..6	static
Arm links	`arm{N}_{link_name}`, where N=1..2 e.g. `arm1_wrist1_link`	dynamic
Products detected by logical cameras	`{logical_camera_name}_{product_name}_frame`, e.g. `logical_camera_1_piston_rod_part_1_frame`	dynamic
Products detected by quality control sensors	`quality_control_sensor_{N}_{anonymize_mode_name}_frame`, where N=1..2, e.g. `quality_control_sensor_1_model_1_frame`	dynamic
Trays where products are placed	`kit_tray_{N}`, where N=1..2, e.g. `kit_tray_1`	dynamic

Additionally arm TF frames without the arm{N}_ prefix are published on topics in the arm namespace.

/ariac/arm{N}/tf where N=1..2
/ariac/arm{N}/tf_static where N=1..2

Description	TF frame	Type
Origin of the workcell	world	static
Arm links	`{link_name}`, e.g. `wrist1_link`	dynamic

Actuators

Topic name	Message/Service	Description	Message definition
/ariac/arm{N}/arm/command	Message	Command arm to move	trajectory_msgs/JointTrajectory.msg
/ariac/arm{N}/joint_states	Message	Arm joint states	sensor_msgs/JointState
/ariac/arm{N}/arm/state	Message	Arm Controller's state	control_msgs/JointTrajectoryControllerState.msg
/ariac/conveyor/state	Topic	Conveyor belt's state	osrf_gear/ConveyorBeltState.msg
/ariac/arm{N}/gripper/control	Service	Enable/disable gripper's suction	osrf_gear/VacuumGripperControl.srv
/ariac/arm{N}/gripper/state	Message	Gripper's state	osrf_gear/VacuumGripperState.msg

Process management

Topic name	Message/Service	Description	Message definition
/clock	Message	Simulation time	rosgraph_msgs/Clock.msg
/ariac/start_competition	Service	Start the competition	std_srvs/Trigger.srv
/ariac/end_competition	Service	End the competition early	std_srvs/Trigger.srv
/ariac/competition_state	Message	State of the competition (`init`, `ready`, `go`, `end_game`, `done`)	std_msgs/String.msg
/ariac/orders	Message	New order to be completed	osrf_gear/Order.msg
/ariac/quality_control_sensor_{N}	Message	Output of quality control sensor {N} (N=1,2), model names anonymized	osrf_gear/LogicalCameraImage.msg
/ariac/agv{N}	Service	Notify AGV{N} that the kit is ready (N=1,2)	osrf_gear/AGVControl.srv
/ariac/agv{N}/state	Message	State of AGV {N} (N=1,2)	std_msgs/String.msg

Cheats

These are only provided for debugging/development purposes and their use is not permitted during the competition trials. See the developer tips page for how to enable cheats.

Topic name	Message/Service	Description	Message definition
/ariac/current_score	Topic	Current completion score	std_msgs/Float32.msg
/ariac/trays	Message	State of the kit being built on each tray	osrf_gear/TrayContents.msg
/ariac/material_locations	Service	Query storage locations for a material (e.g. disk_part, pulley_part)	osrf_gear/GetMaterialLocations.srv
/ariac/conveyor/control	Service	Modify power of the conveyor belt	osrf_gear/ConveyorBeltControl.srv
/ariac/submit_shipment	Service	Submit a tray for evaluation without the AGV moving	osrf_gear/SubmitShipment.srv
/ariac/kit_tray_{N}/clear_tray	Service	Clear the contents of tray {N} without the AGV moving	std_srvs/Trigger.srv

Wiki

ariac / 2019 / competition_interface_documentation