Gizmo Brain provides most of the high level autonomous behavior for Kuri, and provides most of the APIs used by the Kuri app.
The primary interface for commanding behavior from kuri. Each command is a string name and an optional list of key/value parameters. When a command is received by the robot, it will be republished on the /command/cmd_ack topic
kuri-bridgeor the app) then Kuri will enter Kuri Live mode and drive if sent Twist messages.
Publish a waypoint UUID on this topic to have Kuri autonomously navigate to that waypoint
Republishes commands received on the /command topic. This provides very weak synchronization guarantees on the robot. For example, commands handled by the state machine may be echoed on this topic before the internal state of the robot is updated. This topic should probably only be used to verify that Kuri has received a command, and not for any other synchronization purposes.
Returns a list of waypoints that Kuri knows about
Saves the current location as a waypoint with the specified name
Renames the waypoint with UUID
uuid to have the name
Deletes the waypoint with the UUID
If passed “robot_api” as the input string, returns a JSON dictionary with