UML – mission manager interfaces

---

Contents

• UML – mission manager interfaces
  • The mission manager
    • mission_manager – rosplan communication
    • mission_manager – interaction with aRMOR interface
    • mission_manager – communication with the Oracle
  • navigation_unit
  • manipulation_unit

---

This document provides a reference of all the interfaces provided by the robocluedo_mission_manager package. The most complex node from this point of view is the mission_manager.cpp which is the “head” of the entire architecture.

The mission manager

There are many interfaces involving this node. Let’s see it under many points of view.

mission_manager – rosplan communication

The mission manager continuously have to interact with the node rosplan_pipeline_manager.py to load and set each of the three available landmarks.

mission_manager – interaction with aRMOR interface

The mission manager uses all the four directives provided by the package aRMOR interface.

mission_manager – communication with the Oracle

navigation_unit

The navigation unit takes the waypoint string from the ROSPlan action, decodes it into a cartesian position, then delegates the command to the navigation manager.

manipulation_unit

The manipulation unit also subscribes to the topic markers fuor understanding if the marker is located “high” or “low”. The pose associated to the command from ROSPlan changes depending on the quote of the marker.