...
- 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
- rosaria: used by navigation and to retrieve status information from the Pioneer LX
Navigation Stack
A high-level overview of the system architecture in the navigation stack is shown below:
| View file |
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| name | system_overview (3).pdf |
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| height | 250 |
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A more detailed architecture of the navigation stack is shown below:
| View file |
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| name | nav_stack_architecture (6).pdf |
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| height | 250 |
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