Task Creation and Testing

When creating a Task for HLM (High Level Motion):

1. Create your task in the ~iarc7/src/iarc7_motion/src/iarc7_motion/iarc_tasks directory
2. Add your task to the iarc_task_action_server.py script

Example:

3. Create a test abstract in iarc7_abstracts (see track_roomba.py)
4. Create a launch file in iarc7_launch (see track_roomba.launch)
5. Add the name of your abstract to ~/iarc7_launch/params/safety_config.yaml with a priority of 1000 (usually)

Example:

Now you can test your task! Just open a terminal and type:

roslaunch iarc7_launch your_task_name.launch sim:=true