ROS Interface

Soar Kernel Status

void soar_ros::SoarRunner::getSoarKernelStatus(const std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response)

ROS2 interface to get current Soar kernel status (run/ stop) via.

Trigger/// via /soar_ros/kernel/status

Warning

This does not catch the state of the Soar kernel correctly, once the kernel is started/ stopped via the Soar debugger!

Parameters:

  • request_header – Unused.

  • request – Empty.

  • response – “Soar Kernel isRunning: true” if running, otherwise “Soarkernel isRunning: false”.

Run Soar Kernel

void soar_ros::SoarRunner::runSoarKernel(const std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response)

ROS2 Service interface to stop Soar kernel if it is currently running via.

Trigger/// via /soar_ros/kernel/run

Parameters:

  • request_header – Unused.

  • request – Empty.

  • response – “Soar kernel isRunning: true” if started succesfully, otherwise “Soar kernel isRunning: false”.

Stop Soar Kernel

void soar_ros::SoarRunner::stopSoarKernel(const std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response)

ROS2 Service interface to start (run) Soar kernel if it is currenlty stopped.

Trigger/// via /soar_ros/kernel/stop

Parameters:

  • request_header –

  • request – Empty.

  • response – “Soar Kernel isRunning: false” if stopped succesfully, otherwise “Soarkernel isRunning: true”.

Launch Soar Debugger

void soar_ros::SoarRunner::debuggerLaunch(const std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response)

Enable external control to start the debugger and stop the run thread via.

Trigger/// via /soar_ros/debugger/launch

The run thread is stopped automatically since the debugger is not responsive if the thread is running. Reason to be investigated.

The thread running the Soar kernel is not automatically restarted once the debugger was closed. Manually restart the thread via the provided SoarRunner::runSoarKernel() interface.

Note

Launching the Soar debugger without the command requires stopping the kernel via SoarRunner::stopSoarKernel() related topic. Otherwise, the debugger will remain frozen/ unresponsive.

Parameters:

  • request_header –

  • request –

  • response –