Table 1 Definition of the implemented subtasks

Robot movement subtask

9001

\(\begin{array}{l}\hbox {Goal position (x, y, z)}\\ \hbox {Goal angle (w, x, y, z)}\end{array}\)

Requests the Navigation2 package to autonomously move the robot to the target location using ROS2 action communication. If the request fails, it informs the upper-level task control node that it has failed.

Cancels the currently executed request to Navigation2 by ROS2 action.

Subtasks for robotic bed

\(\begin{array}{l}9100\\ 9101\\ 9102\\ 9103\\ 9104\\ 9105\\ 9106\\ 9107\end{array}\)

Execution seconds

Requests the bed control node (websocket operation) in TMS_RC to perform the respective operation via a websocket, such as raising the bed. If another task has already made the bed request, this subtask informs the upper task control node of the failure.

Sends a stop command to the bed control node via a websocket.

Subtasks for the lights

\(\begin{array}{l}9200\\ 9201\end{array}\)

None

An HTTP request is sent to the lighting management server located in the big sensor box to turn the lights on and off. Failure is reported to the upper task control node if no response is received from the server within the 5-second timeout period.

None

A subtask for the speaker

9300

Text to be spoken

Request the speaker control node in TMS_UR to speak using the ROS2 service.

None

A subtask for the speaker

9900

Execution seconds

Wait for the specified time.

None