PKG DOCS – robocluedo_mission_manager

this is the center of the architecture for the robocluedo project.

The node provides three nodes:

• mission_manager.cpp : the main node of the architecture; the node which runs the investigation

• manipulation_unit.cpp in RCL#3 is used by the mission manager only in order to move the arm continuously; this movement makes the robot more capable of finding hints in the environment

• navigation_unit.cpp acts as a bridge between the ROSPlan actions requiring the navigation capabilities of the system, and the motion controllers of the system, guaranteeing the architectural separation between different components of the project.

User Documentation

• HOW TO – the main launch file
  • In a hurry? Just run that!
  • The INIT option – Run component by component
    • run aRMOR
    • run the robot environment
    • run rosplan
    • run the movement controller
    • run the vision module
    • run the Oracle
    • run the mission manager
    • combine the launch options
  • HOW TO run the project
    • step by step
    • the fastest way to run the project
    • the suggested way

UML diagrams

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

code reference

• NODE manipulation_unit
• NODE mission_manager
• NODE navigation_unit