Write about building blocks

[tbohne]

• localiization: GPS, IMU, odom
• navigation: move_base, move_base_flex (simple goal, pdc)
• perception
• task: RIEGL scan
• survivability: power management, collision avoidance, recovery, storage / date management, maintenance, self diagnosis, knowledge management (updating map / semantic knowledge)

[tbohne]

Building Blocks according to Kunze et al (2018) • Navigation and Mapping • Perception • Knowlegde Representation and Reasoning • Planning • Interaction • Learning

[tbohne]

LOCALIZATION: https://wiki.ros.org/robot_localization

• robot_localization containing gps,imu,odom - frames:
  • world frame -> map frame is local coordinates
  • map -> odom - defined by GNSS in utm coordinates;
  • odom -> base_link - start point is where the robot was turned on through hardware.

[tbohne]

NAVIGATION:

• move_base_flex SMACH: Uses simple_goal which is only in local coordinates and 2D pose coordinates wrt robot.
  • works without localization
• PDC SMACH - works in utm/GNSS coordinates and only with working localization
• Dependencies:
  • localization
  • perception (for collision avoidance using lidar)
  • reasoning (pdc depends on waypoint server)

[tbohne]

PERCEPTION - sensor data processing + interpretation)

• sensor data fusion
• SICK TiM LiDARs
• Velodyne VLP-16 3D LiDAR
• GNSS sensor
• odom
• imu

[tbohne]

TASKS / INTERACTION

• Sensing: RIEGL scan

[tbohne]

KNOWLEDGE REP & REASONING

• waypoint server - holds zones and its control parameters / waypoints
• overall control SMACH / behaviour tree

[tbohne]

PLANNING

• my plan_generation node -> give tasks to the robot

[tbohne]

SURROUDING INFRASTRUCTURE we have:

• charging infrastructure
• shelter we need:
• weather station
• maintaining ground moisture
• external data sources: legal info, plant info, weather forecast

[tbohne]

AROX navigation algos:

• Eband / DWA -> localization: GNSS