Robobot mission

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Robobot mission software

This figure shows the mission functional blocks. The main connection is to the robobot_bridge, through which the robot is controlled. The red mission block is the main block, where the behaviour is controlled. To help decide and control the behaviour, there is a number of data elements available in the bottom row of boxes, in addition a camera interface is available, where camera frames are available. the camera interface has further a support feature that extracts ArUco markers from the image and delivers the position and orientation of any found markers.

The blocks marked with a circle arrow is running their own thread. The yellow boxes are features available outside the mission application.