The state-machine is built within ROS. The ROS nodes can be found in separate repos on Github. The core ROS nodes can be seen in the graph graphs below:
- 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: High-level navigation, defines where to go in the map.
- cyborg_audio: everything related to making sounds on the speakers
- cyborg_visual: controls the LED-dome
- rosarnl_node: low-level navigation
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