UML graph
==========



.. image:: image/sofar.jpg
  :width: 1000
  :align: center
  :alt: sofar.jpg
   
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 <https://github.com/buoncubi/armor_py_api>`_.

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**