The core ROS nodes can be seen in the rqt_graph below:overview of the system architecture is shown here:
- cyborg_controller: the main controller and manager of all other nodes
- part of behaviour module
- 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
- Nodes handling actuators
- cyborg_navigation: High-level navigation, defines where to go in the map.
ros-arnl: low-level navigation stack(now using ROS navigation stack)
- cyborg_audio: everything related to making sounds on the speakers
- cyborg_visual: controls the LED-dome
- cyborg_navigation: High-level navigation, defines where to go in the map.
- rosaria: used by navigation and to retrieve status information from the Pioneer LX
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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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