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Overview

The Material Action Client is a simple test node that executes a complete excavation-then-deposition sequence. It is primarily used for bench testing, CI smoke checks, and verifying the material handling system integration. Package: lunabot_control
Node Name: material_action_client
Source: src/lunabot_control/lunabot_control/material_action_client.py

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Purpose

This client node provides:
  • Automated testing of the excavation and deposition action sequence
  • Validation that both action servers are available and responding
  • Configurable timeout and goal parameters for testing
  • Clear success/failure reporting for CI integration

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Parameters

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excavate_timeout_s
float64
default:"12.0"
Maximum time allowed for the excavation operation in seconds
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deposit_timeout_s
float64
default:"10.0"
Maximum time allowed for the deposition operation in seconds
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dump_duration_s
float64
default:"3.0"
Duration to hold the dump position before closing in seconds

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Action Clients

The node creates action clients for:
  • /mission/excavate - Excavate action interface
  • /mission/deposit - Deposit action interface

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Execution Sequence

1

Wait for servers

The client waits up to 5 seconds for both action servers to become available. If either server is unavailable, the sequence fails immediately.
2

Send excavation goal

Sends an excavation goal with:
  • Mode: MODE_AUTO
  • Timeout: Configured excavate_timeout_s
  • Target fill: 0.8 (80% capacity)
  • Max speed: 0.2 m/s
3

Wait for excavation result

Blocks until the excavation action completes. If the action is rejected or fails, the sequence terminates with an error.
4

Send deposition goal

Sends a deposition goal with:
  • Mode: MODE_AUTO
  • Timeout: Configured deposit_timeout_s
  • Dump duration: Configured dump_duration_s
  • Require close: true
5

Wait for deposition result

Blocks until the deposition action completes. If the action is rejected or fails, the sequence terminates with an error.
6

Report success

Logs successful completion and exits with status code 0.

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Usage

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Launch the client

ros2 run lunabot_control material_action_client

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Launch with custom parameters

ros2 run lunabot_control material_action_client \
  --ros-args \
  -p excavate_timeout_s:=15.0 \
  -p deposit_timeout_s:=12.0 \
  -p dump_duration_s:=5.0

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Check exit status

The node exits with status code 0 on success, non-zero on failure: 
ros2 run lunabot_control material_action_client
echo $?  # 0 = success, 1 = failure

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Exit Codes

CodeMeaning
0Sequence completed successfully
1Action server unavailable, goal rejected, or operation failed

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Integration Testing

This client is designed for automated testing workflows: 
# Example CI test step
- name: Test material actions
  run: |
    # Launch the action servers in background
    ros2 launch lunabot_control material_actions.launch.py &
    sleep 2
    
    # Run the test sequence
    ros2 run lunabot_control material_action_client
    
    # The command will exit with non-zero status if the test fails

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Source Reference

See src/lunabot_control/lunabot_control/material_action_client.py:10-114 for the complete implementation.

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