The state-machine is built within ROS. Each state is its own ROS node and all nodes are controlled by a main cyborg_controller node. The ROS nodes can be found in separate repos on Github.

Overview

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Class diagram:

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The core ROS nodes can be seen in the above graph and arebelow:

• cyborg_controller: the main controller and manager of all other nodes
• cyborg_behavior: the emotional system that decides what future states are attractive
• cyborg_eventscheduler: posts events like "go and charge" by monitoring the battery status or "go to kantine" during lunch time
• cyborg_primary_states
• cyborg_navigation: defines where to go in the map. High-level node using rosarnl_node 
• cyborg_audio
• cyborg_visual
• rosarnl_node

Overview

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Class diagram:

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ros-arnl

The ros-arnl ROS node is developed by MobileRobots and handles communication with the robots actuators, sensors and navigation library.

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