Feature: Dynamic Mission Control & New Program Startup Steps & Tree Generator

[wang-hsiu-cheng]

Feature

• Material Checker: check if target material is available and find a better target
• Mission Checker:
  • check if target construction area is dangerous and shift a little to make it safer
  • step back to place material at an area there have materials been placed
  • check on bot materials, and recommend how many level the bot should do:
    • not ready for bot 2 yet
    • have to use accompany with correct behavior tree
• Banner Checker: check if the target banner place is available
• Mission Start: a driver for mission subtree. only suitable for bot 1
• Mission Success:
  • score: calculate ideal score in main program
  • on bot materials: not ready for bot 2 yet
  • publish finish message back to vision group
  • count the material numbers on current area
• My Set Blackboard: input true/false in type of string, convert it into bool blackboard param

BT Blackboard Params & ROS Params:

(find the detail description in function InitParam() in bt_m.cpp)

Feature of Tree for bot 1

Generate xml Tree (version for bot 2 is not ready yet)

• give a sample xml tree
• input point index and output file name
• generate a xml file

Modify:

• Firmware Mission:
  • topic /mission_status callback mission type + mission status
  • type: mission code
  • status: 0 for running, 1 for success, 2 for fail
• Navigation: ROS2 action type
• Stop Robot: set /stopRobot as true for 10 times, and set /stopRobot as false for 10 times

Developing:

• Timer Checker: check wall time counter
• bt_nodes_util: integrate some tool functions