Fejemis Maploc Ros2 - Revision history

S252724: /* Cleaning */

2026-05-28T11:41:40Z

Cleaning

← Older revision		Revision as of 13:41, 28 May 2026
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	These subtrees show the intended full cleaning sequence, although the active ''t_cleaning'' branch currently only navigates to a waypoint and changes mission state.		These subtrees show the intended full cleaning sequence, although the active ''t_cleaning'' branch currently only navigates to a waypoint and changes mission state.
	[[File:BT-cleaning.~~jepg~~\| 800px]]		[[File:BT-cleaning.jpeg\| 800px]]

	Cleaning Node Behaviour Sequence: mission trigger -> waypoint navigation -> coverage path computation -> brush on -> follow coverage path -> brush off -> idle.		Cleaning Node Behaviour Sequence: mission trigger -> waypoint navigation -> coverage path computation -> brush on -> follow coverage path -> brush off -> idle.

2026-05-28T11:41:20Z

Cleaning

← Older revision		Revision as of 13:41, 28 May 2026
Line 571:		Line 571:

	These subtrees show the intended full cleaning sequence, although the active ''t_cleaning'' branch currently only navigates to a waypoint and changes mission state.		These subtrees show the intended full cleaning sequence, although the active ''t_cleaning'' branch currently only navigates to a waypoint and changes mission state.
	[[File:cleaning.~~png~~\| 800px]]		[[File:BT-cleaning.jepg\| 800px]]

	~~Cleanign~~ Node Behaviour Sequence: mission trigger -> waypoint navigation -> coverage path computation -> brush on -> follow coverage path -> brush off -> idle.		Cleaning Node Behaviour Sequence: mission trigger -> waypoint navigation -> coverage path computation -> brush on -> follow coverage path -> brush off -> idle.

	== Configuration Files ==		== Configuration Files ==

2026-05-28T10:29:39Z

Notes and Future Work

← Older revision		Revision as of 12:29, 28 May 2026
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	* Clarify which Raspberry Pi should run each launch file in the final deployment.		* Clarify which Raspberry Pi should run each launch file in the final deployment.
	* Expand the cleaning behaviour section once ''t_cleaning'' is connected to ''f_get_area_to_clean'' and ''f_clean_area'' in the active tree.		* Expand the cleaning behaviour section once ''t_cleaning'' is connected to ''f_get_area_to_clean'' and ''f_clean_area'' in the active tree.
			* Test and validate the complete cleaning behaviour structure in the final hardware setup, as it has not yet been fully evaluated due to current Raspberry Pi limitations.

2026-05-28T10:27:32Z

Cleaning

← Older revision		Revision as of 12:27, 28 May 2026
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	These subtrees show the intended full cleaning sequence, although the active ''t_cleaning'' branch currently only navigates to a waypoint and changes mission state.		These subtrees show the intended full cleaning sequence, although the active ''t_cleaning'' branch currently only navigates to a waypoint and changes mission state.
			[[File:cleaning.png\| 800px]]

	~~'''Diagram placeholder:''' cleaning behaviour sequence~~: mission trigger -> waypoint navigation -> coverage path computation -> brush on -> follow coverage path -> brush off -> idle.		Cleanign Node Behaviour Sequence: mission trigger -> waypoint navigation -> coverage path computation -> brush on -> follow coverage path -> brush off -> idle.

	== Configuration Files ==		== Configuration Files ==

2026-05-28T10:13:43Z

Mapping

← Older revision		Revision as of 12:13, 28 May 2026
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	=== Mapping ===		=== Mapping ===

	''t_mapping'' currently checks for ~~mission~~ ''mapping/*'' and then returns to idle. This branch ~~is a placeholder for future~~ autonomous mapping ~~behaviour~~.		''t_mapping'' currently checks for ''mission mapping/*'' and then returns to idle.

			Requires mission mapping/

			*Currently acts as a placeholder

			*Does not yet launch the SLAM or exploration pipeline

			*Returns to idle immediately

			This branch should later be expanded to perform autonomous mapping, localization checks, and map saving.

	=== Cleaning ===		=== Cleaning ===

2026-05-28T10:11:17Z

Calibration

← Older revision		Revision as of 12:11, 28 May 2026
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	* Requires mission ''calib/line''.		* Requires mission ''calib/line''.
	* Drives forward using ''DriveOnHeading'' ~~for~~ ''calib_sq_dist'' at 0.05 m/s.		* Drives forward using ''DriveOnHeading''
			* ''calib_sq_dist'' is set to 0.05 m/s during initialization.
	* Returns to idle.		* Returns to idle.

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	* Each side drives forward and spins 1.57 rad.		* Each side drives forward and spins 1.57 rad.
	* Returns to idle.		* Returns to idle.
			Each ''f_calib_side'' contains:

			*DriveOnHeading
			*Spin
			*A quarter-turn style calibration step
			Calibration succeeds when each action in the sequence completes successfully.

	=== Mapping ===		=== Mapping ===

2026-05-28T10:09:23Z

Idle

← Older revision		Revision as of 12:09, 28 May 2026
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	* mission_sub: ''idle''		* mission_sub: ''idle''

	This keeps the robot in a waiting state.		This keeps the robot in a waiting state. Sensors, telemetry, and subscriptions remain active, but no movement commands are issued. The robot leaves this state when a new mission is received through ''/behavior/set_mission''.

	=== Calibration ===		=== Calibration ===

2026-05-27T14:42:23Z

Notes and Future Work

← Older revision		Revision as of 16:42, 27 May 2026
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	== Notes and Future Work ==		== Notes and Future Work ==

	* Add exported diagrams for the odometry EKF, RTAB-Map data flow, Nav2 planning stack, and behaviour tree.
	* Clarify which Raspberry Pi should run each launch file in the final deployment.		* Clarify which Raspberry Pi should run each launch file in the final deployment.
	* Document the map database creation/update procedure for ''lab'' and ''asta''.
	* Expand the cleaning behaviour section once ''t_cleaning'' is connected to ''f_get_area_to_clean'' and ''f_clean_area'' in the active tree.		* Expand the cleaning behaviour section once ''t_cleaning'' is connected to ''f_get_area_to_clean'' and ''f_clean_area'' in the active tree.

2026-05-27T14:41:04Z

launch/tf.launch.py

← Older revision		Revision as of 16:41, 27 May 2026
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	The launch file uses the ''in_sim'' launch configuration to select the real or simulated LiDAR transform.		The launch file uses the ''in_sim'' launch configuration to select the real or simulated LiDAR transform.

	~~'''Diagram placeholder:''' TF tree showing ''map -> odom -> base_link'', then the camera and LiDAR static frames.~~

	=== launch/odometry.launch.py ===		=== launch/odometry.launch.py ===

2026-05-27T14:40:25Z

launch/rtabmap_slam.launch.py

← Older revision		Revision as of 16:40, 27 May 2026
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	In SLAM mode, ''delete_db_on_start=True'' and RTAB-Map is launched with ''-d'', so the selected database is overwritten. In localisation mode, ''Mem/IncrementalMemory=False'' and ''Mem/InitWMWithAllNodes=True'', so the existing map is loaded for localisation.		In SLAM mode, ''delete_db_on_start=True'' and RTAB-Map is launched with ''-d'', so the selected database is overwritten. In localisation mode, ''Mem/IncrementalMemory=False'' and ''Mem/InitWMWithAllNodes=True'', so the existing map is loaded for localisation.

	~~'''Block diagram placeholder:''' RTAB-Map data path from RealSense, LiDAR scan, EKF odom, and initial pose into RTAB-Map, with outputs to ''map'', TF, and Nav2.~~

	=== launch/map.launch.py ===		=== launch/map.launch.py ===