Guru's plan (part of what I'm assuming / building upon in my work):
Deliverables:
Gazebo world / spawn script with
Robot
Container
Virtual Charging Station
Regions / Objects of interest
Documentation where to find / how to install
Battery charger node which charges the battery whenever the robot is at a certain position or in vicinity of some object
scheduler node which tells the robot to drive to n regions of interest and take a scan
battery watchdog node which aborts the mission if battery voltage gets critically low
integrated version of state machine "arox engine"
Scenario A: (Battery is enough)
1 Robot charges up to threshold
2 Robot drives to first roi
3 Robot scans
4 Repeat 2 & 3 according to user input
5 Robot completes last roi
6 Robot returns to charger, GOTO 1
Scenario B: (Battery is not enough)
1 Robot charges up to threshold
2 Robot drives to first roi
3 Robot scans
4 Repeat 2 & 3 according to user input
5 At some point battery watchdog kicks in
6 Robot returns to charger
7 Robot charges up to threshold
8 Robot resumes mission
9 Robot completes last roi
10 Robot returns to charger, GOTO 1
Guru's plan (part of what I'm assuming / building upon in my work):
Deliverables:
Scenario A: (Battery is enough) 1 Robot charges up to threshold 2 Robot drives to first roi 3 Robot scans 4 Repeat 2 & 3 according to user input 5 Robot completes last roi 6 Robot returns to charger, GOTO 1
Scenario B: (Battery is not enough) 1 Robot charges up to threshold 2 Robot drives to first roi 3 Robot scans 4 Repeat 2 & 3 according to user input 5 At some point battery watchdog kicks in 6 Robot returns to charger 7 Robot charges up to threshold 8 Robot resumes mission 9 Robot completes last roi 10 Robot returns to charger, GOTO 1