Temporal diagram
=================



.. image:: image/temporal_diagram.jpg
  :width: 1000
  :align: center
  :alt: temporal_diagram.jpg
   
At the beginning Launch file launch all the nodes and packages except ``finite_state_machine.py``.
The last one started working automatically with the first launch after 20 sec of delay, this delay is a 
necessary because simulation needs some time to add a robot model in the environment and make it able to execute 
function defined in *FSM* node. 

In the first step **SETUP_MAP**, slam_gmapping subscribe to ``/scan`` and ``/tf`` generated from robot urdf <Gazebo> and
also my_moveit.cpp subscribe to ``/tf`` information to uses for ``/arm_controller``. At the tip of the robot arm, there is a camera 
that helps the robot detect marker_id in the world. The image_od acquired by the camera publish to FSM, this node uses
a service(req & res) to get information about the room id detected. After finishing this step **GO_IN_ROOM** state started and FSM send 
an action to the move_base package, therefore move_base publishes ``/cmd_vel`` to robot urdf <Gazebo> to move the robot around the map.
The information related to odometry is sent to robot_state.py and the last node mentioned store information in ``Get_pose.srv``.

N.B: There are 5 states in the FSM node, here demonstrated just two of them. At the beginning of each state  ``/arm_movement_state`` and
``/base_movement_state``are changed and ``/battery_level_state`` after the first state starts consuming.