KingEngine

Makes strategic decisions and makes the robot do things. It contains ros code for each subsystem to communicate.

Current Architecture

• Localization: Provides a 3D Pose of the Robot
• Obstacle Detection: Takes a 3D Pose and produces obstacles.
• Path Planning: Takes obstacles, a Pose, a destination, and produces a path to follow
• Traversal: Takes a path, a pose and produces motor commands
• Decision Making: Takes pose and sends destination to path planning. Sends commands to actuation.
• Actuation: Takes motor and actuation commands and sends them to Rio.

Ros2 Humble Installation instructions

see https://docs.ros.org/en/humble/Installation.html

Requirements:

• Install PCL sudo apt-get install libpcl-dev

Build Instructions:

• git clone https://github.com/Cardinal-Space-Mining/KingEngine.git --recurse-submodules
• cd ./KingEngine
• colcon build --executor parallel

Idea

Abstract away ros workings so not everyone on the team needs to learn ros. Functions are implemented in main.cpp Callbacks have no implementation and will be filled by the subsystem person

Layout as follows:

• King Engine
  • Functions:
    • get_location (Returns last known location)
    • set_destination (Sets destination for the rest of the systems)
  • Callbacks:
    • None
• Lidar
  • Functions:
    • set_map (Sends a map to pathplan)
  • Callbacks
    • on_location_update (Triggers whenever localization pushes a location update)
    • on_startup (Runs once at startup. Should return)
• Localization
  • localization_main (a entrypoint that passes a lambda to set location)
• Path Plan
  • Functions:
    • None
  • Callbacks:
    • on_lidar_data (called whenever the lidar sends data)
    • on_location_change (Triggers whenever localization pushes a location update)
    • on_destination_change (Triggers whenever king engine pushes a change of destination)
• Traversal
  • Functions:
    • None
  • Callbacks:
    • on_location_change (Triggers whenever localization pushes a location update)
    • on_path_change (Triggers whenever path plan triggers a new path)