## repository: git://github.com/ipa320/cob_apps
<<PackageHeader(cob_script_server)>>
<<TOC(4)>>

== Hardware Requirements ==

This package was created to be used with Care-O-bot but is not limited to one specific robot. It can be used for a real robot as well as for a simulated one (see [[cob_bringup]]).

== Python API ==
This package provides all methods as a python API (see [[cob_script_server/Tutorials|Tutorials]]). The table below shows a summary of the most important commands and their parameters.

||'''command''' || '''component name''' || '''parameter name''' || '''example''' || '''explanation''' ||
|| {{{init()}}} || base|torso| tray|arm|sdh || -- || {{{sss.init("base")}}} || initializes component ||
|| {{{recover}}} || base|torso| tray|arm|sdh || -- || {{{sss.recover("base")}}} || recovers component after emergency stop ||
|| {{{stop}}} || base|torso| tray|arm|sdh || -- || {{{sss.stop("base")}}} || stops current goal of component ||
|| {{{move}}} || torso|tray| arm|sdh || string of parameter|| {{{sss.move("torso","front")}}} || move component to predefined joint configuration ||
|| {{{move}}} || torso|tray| arm|sdh || list of points with joint values|| {{{sss.move("torso",}}} {{{  [[0, 0, 0, 0],}}} {{{  [0.1, 0, 0.2, 0],}}} {{{  [...], ...])}}} || move component to joint configuration ||
|| {{{move}}} || base || string of parameter || {{{sss.move("base","home")}}} || move component to predefined pose ||
|| {{{move}}} || base || [x,y,th] in map coordinates|| {{{sss.move("base",[0, 0, 0])}}} ||  move component to pose |||
|| {{{move_base_rel}}} || base || [x,y,th] in base_link relative coordinates|| {{{sss.move_base_rel("base",[0, 0, 1.57])}}} ||  move relative pose base |||
|| {{{sleep}}} || -- || time in seconds || {{{sss.sleep(2.0)}}} || sleeps ||
|| {{{wait_for_input}}} || -- || -- || {{{ret = sss.wait_for_input()}}} || wait for a keyboard input ||
|| {{{say}}} || -- || string of parameter || {{{sss.say("sentence1")}}} || says a predefined string ||
|| {{{say}}} || -- || list of strings || {{{sss.say(["Hello."])}}} || says a string ||
|| {{{set_light}}} || -- || string || {{{sss.set_light("red")}}} || sets LEDs to a predefined color ||
|| {{{set_light}}} || -- || [r,b,g] || {{{sss.set_light([0.5,0.5,0.5])}}} || sets LEDs to a rgb color ||

Each of the above function (except {{{wait_for_input}}}, which returns the keyboard input) returns a handle which offers the following commands. 
||'''command''' || '''example''' || '''explanation''' ||
|| {{{wait()}}} || {{{handle.wait()}}} || waits forever until the command is finished ||
|| {{{wait(timeout)}}} || {{{handle.wait(2.0)}}} || waits until the command is finished, but max. for {{{timeout}}} seconds ||
|| {{{get_state()}}} || {{{handle.get_state()}}} || gets the state of the current execution (see <<MsgLink(actionlib_msgs/GoalStatus)>>) ||

== Terminal API ==
By running
{{{
rosrun cob_script_server cob_console
}}}
you can access all script_server commands in an ipython terminal with the prefix {{{sss}}}, e.g.
{{{
sss.move("head","front")
}}}

== Actionlib API ==
All functions from the python API are also available as [[actionlib]] calls.

{{{
#!clearsilver CS/NodeAPI
 name = script_server
 desc = The script server node takes in <<MsgLink(cob_script_server/ScriptAction)>> messages and send this to the robot to be executed.

goal{
 0.name=script_server/goal
 0.type=cob_script_server/ScriptActionGoal
 0.desc=The goal describes the script action command the robot has to execute
}

result{
 2.name=script_server/result
 2.type=cobscript_server/ScriptActionResult
 2.desc=Returns an error code
}

feedback{
 0.name=script_server/feedback
 0.type=cob_script_server/ScriptActionFeedback
 0.desc=empty
}

sub{
}

pub{
}

srv{
}

param{
}

req_tf{
}

prov_tf{
}

}}}

== Usage/Examples ==
For starting the script server and upload parameters
{{{
roslaunch cob_script_server script_server.launch
}}}
For running a test script
{{{
rosrun cob_script_server test_script.py
}}}
For running the script viewer
{{{
rosrun cob_script_server script_viewer.py
}}}

All the parameters that are loaded in the name space /script_server are defined in .yaml files in the package [[cob_default_robot_config]].

== Tutorials ==

Tutorials can be found on the [[cob_script_server/Tutorials|Tutorials page]].

## AUTOGENERATED DON'T DELETE
## CategoryPackage