UML graph

The software structure is divided into 5 important parts:

1. Robot state

2. Motion Controller

3. Motion Planner

4. aRMOR

5. Finite state machine

1. Robot state node

Consisting of a node that allows the client to use the GET_POSE and SET_POSE service and communicate with other nodes.

2. Motion Controller

It is built by two controller_client and controller nodes to move the robot between different locations.

3. Motion Planner

It is built by two planner_client and planner nodes to generate a map of points to switch from one room to another (points are defined inside the map / see map section).

4. aRMOR

Armor package is built from 6 nodes which allows me to do:

1. Manipulation in ontology map

2. Query from ontology map

3. Exception on ontology map

4. Architecture name mapper for each node via name_tag

For more information on armor package then refer to this link.

5. Finite state machine

Inside this node, most of the functions have been defined and it allows me to view the robot status via GUI SMACH viewer