NESTLab / 2122_MultiDroneIndoorSLAM

Code for 21/22 MQP and DRs on Multi Drone Indoor SLAM

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State machine dev #12

Open AshayAswale opened 2 years ago

AshayAswale commented 2 years ago

State machine PR

Simple state machine works on two turtlebots

Important

Merging this PR will stop the turtlebots to explore by default.
To start exploration, publish 'false' on the topic ~/pause_exploration

Features

Decentralized state machine works on two robots
Modular approach, any state can be modified
Adding a new state is super easy.. Barely an inconvenience!

Bugs

If a relay is going to meet and an explorer is exploring, and by chance, relay sees explorer then:
- Relay will switch to state 'Meet'
- Explorer will continue exploring without the knowledge of relay being there
- If this thing happens away from the meeting point and the explorer does not see relay while going to the meeting point then that will be the dead-
but there are a few hardcoded names. Some rostopics and robot names are hardcoded in some places. Porting to argos khepira might not be 'out of the box'

Things not included

Multiple turtlebots are not tested and are expected to get in way of each other

tylerferrara commented 2 years ago

Thank you for this readme! I'll get started on this after I sort out the decentralized line-of-site https://github.com/NESTLab/coms/issues/4