54 def->component(navigatorPrx,
"navigator");
56 def->required(properties.robotName,
"RobotName",
"Default robot name.");
58 auto optionalSubSkillID =
62 def->optional(skillID.
providerId->providerName, nameBase +
".providerName");
63 def->optional(skillID.
skillName, nameBase +
".skillName");
66 optionalSubSkillID(properties.navigateToNamedLocation.subSkillIDs.navigateToLocation,
67 "p.navigateToNamedLocation.subSkillIDs.navigateToLocation");
94 addSkillFactory<skills::NavigateTo>(srv);
102 addSkillFactory<skills::NavigateToLocation>(srv);
109 addSkillFactory<skills::NavigateToNamedLocation>(properties.navigateToNamedLocation,
114 skills::MoveXMeters::Services srv{
115 .iceNavigator = iceNavigator,
118 addSkillFactory<skills::MoveXMeters>(srv);
123 skills::RotateXDegrees::Services srv{
124 .iceNavigator = iceNavigator,
127 addSkillFactory<skills::RotateXDegrees>(srv);
132 .robotName = this->properties.robotName,
137 .robotReader = virtualRobotReaderPlugin->get(),
139 addSkillFactory<skills::MoveRelativePlanar>(properties, srv);
149 .virtualRobotReader =
150 virtualRobotReaderPlugin->get(),
151 .costmapReader = costmapReaderPlugin->get(),
152 .roomsReader = roomsReaderPlugin->get(),
155 addSkillFactory<skills::GuideHumanToRoom>(srv);
198 return Component::defaultName;
204 return Component::defaultName;