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 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: defines where to go in the map. High-level node using rosarnl_node
- cyborg_audio
- cyborg_visual
- rosarnl_node
Overview
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.
From http://wiki.ros.org/ros-arnl:
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ROS rqt_graph:
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