3 "EV_START" : "Changed state of start connector.",
7 "EV_SWITCH_STRATEGY" : "",
9 "EV_MOTION_DONE" : "Previously submitted motion is finished",
10 "EV_MOTION_ERROR" : "Motion FSM cannot finish the requested command even after several attempts (obstacles on the road, lost several times etc.)",
13 "EV_MOVE_STOP" : "Stop current motion as fast as possible",
14 "EV_NEW_TARGET" : "New target (point or trajectory) is sent",
15 "EV_TRAJECTORY_LOST" : "Actual position of the robot is too far from reference",
16 "EV_TRAJECTORY_DONE" : "Reference position is at the end of the previously submitted trajectory",
17 "EV_TRAJECTORY_DONE_AND_CLOSE" : "::EV_TRAJECTORY_DONE + distance of actual position to the target is less than XXX",
18 "EV_OBSTACLE" : "An obstacle is detected on actual trajectory - we must avoid it.",
19 "EV_OBSTACLE_BEHIND" : "",
20 "EV_OBSTACLE_SIDE" : "",
21 #"EV_FOUND_AFTER_RESET" : "MCL estimated position after reset",
22 #"EV_RECALCULATION_FAILED" : "Trajectory recalculation caused by a detected obstcale has failed (error or target not reachable)",