🥁Non-Fully Qualified Tasks

There are two types of Non-Fully Qualified Tasks, Auxiliary Tasks, and Custom Tasks.

Auxiliary Tasks

Auxiliary tasks are executables such as lights, music, sound, or others*.

They are created and executed independently.

They must be 'stacked' on top of fully qualified tasks and will be executed together at the specified time and sequence

Ensure you have the necessary information to create aux tasks

You can fill name for the Aux Task Name, then there are 3 Types that you can choose. 1. Roslaunch File: You can launch your aux task using the roslaunch file, please fill the LaunchFile as the full path of the launch file that you want to launch. 2. Rosnode: You can launch your aux task by calling the rosnode, please fill the Pkg as the package of the rosnode, and Executable as the executable file. It will similar to this: rosrun <Package> <Executable> 3. Executable Scripts <recommended>: You can launch the aux task by executing the executable scripts, please fill the Executable as the full path of the script file, and also you can add the arguments as well (optional). It will similar to this: bash ./script.sh arg

How to run it:

1. Copy your bash script to the ~/catkin_ws/movel_ai/aux_task folder. This is the example of script for your reference, you can modify it based on your case. #!/bin/bash

   function proc_start { rostopic pub /aux_task_status std_msgs/String "data: 'start'"

   while true
   do
       sleep 10
   done

   }

   function proc_exit { rostopic pub /aux_task_status std_msgs/String "data: 'stop'" exit 0 }

   trap proc_exit TERM INT proc_start

2. Make sure you make the script as executable (sudo chmod +x [file_name].sh)

3. Create new aux task, executable must be /home/movel/.config/movel/aux_tasks/[file_name].sh (full path directory for auxiliary task inside Seirios-RNS Docker)

4. args is optional, you can leave it blank

Custom Tasks

Custom tasks are tasks that move robots - such as docking or picking with a robotic arm. These movements are programmed as custom tasks and can be chained with other tasks to create a fully autonomous robotic operation.

For more details on how to integrate your own custom task code, please refer to our external process handler guide