Experimental Robotics Lab Project 1

Author: Adedamola Ayodeji Sode
Email: [email protected]
Student ID: S5360004

Outline

• Brief Desscription
• Installation Guide
• Software Architecture Description
• Intended Implementations

Brief Description

This project is based off the popular board game cluedo. Using the game's simulation of a murder mystery with intents at deriving at guesses to attain important hints at arriving at the final conclusion, who killed, where did the kill take place, and what was the murder weapon.

Installation

1. Clone the git repo into your ROS workspace

git clone https://github.com/AsimovNo9/ExperimentalRoboticsLab.git

2. Rename the folder into "experimental_robotics" as that is how the package is structured to remove the descripancies of the repo

3. Build the workspace

catkin_make

4. Source the Setup.bash if not already done

source devel/setup.bash

5. Launch the package

roslaunch experimental_robotics CluedoLaunch.launch

Software Architecture Description

Given the following state machine, we will design an architecture which centers the state machine as the core of the of the entire package. Where the state machine inquires as a client to the navigation service node, the oracle service node, the knowledge service node and the gather hints service node. These in turn return the state machine with its required responses so that the process is continued.

Intended Implementations

The project is intended to be bolstered given these set of features:

Priority	Feature	Description	Status
1	Armor	Implementing Armor client service for ontology inclusion	✅
2	ROS Plan	Implementing ROS Plan to describe	🚧
3	A Navigation Stack	Replacing the random naviagtion implementation with a proper navigation stack	🔖
4	Robot Modeling and Simulation	URDF and CAD modelling of robot, with move_it implementation	🔖