BotOnAWire

Packages

Active

• Wire-Bot: The main control node. Only a beginning.
• Position-Estimator: Fuses GPS and encoder information to track position on the cable

Need sorting

• server
• web
• sound: manages the speakers (this might go on the peripheral microcontroller?)
• arduino-com: I think this is obsolete, but perhaps there are settings in it?
• All the files that are related to AI/CV bird detection need to be put into their own package

Obsolete

• boaw_sm.py: The original main file, with a state machine built from smach. smach is too cumbersome; better to create our own

Todo

• (Kunal, w/Sri): Implement CV pipeline on Orin Nano
  • Create ROS package that manages CV interface
  • Define message data: (bird/no bird); confidence; window (estimate distance?); count?
  • Test pipeline from camera to Nano
  • Add second camera
• (Puen, with Greg and Sri): Rebuild ROS
  • Generate structure, packages
  • Implement basic behavior on "desktop" version of robot

Wire-Bot

Manages the control of the robot.

Functionality

• Monitors sensor inputs to determine bird presence
• Sets target speed, including calling a speed PID control service
• Engages deterrents

Messages

In

• activation: to set the state from IDLE to PATROL_FWD if true, otherwise set to IDLE
• /distance/front: distance to objects in the front in cm

Out

• target_speed: target speed of the robot in meters per second
• led_cmd: number of flashes for the led to blink

Services

Service Proxy

• speed_control: creates service request for a target speed after PID control

distance-estimator

Estimates the distance to both the front and the back

Functionality

• Receives sensor data from all four distance sensor
• Returns distance after sensor fusion

Messages

In

• /rangefinder/fore/MB: distance from the front ultrasonic rangefinder
• /rangefinder/aft/MB: distance from the back ultrasonic rangefinder
• /rangefinder/fore/TF: distance from the front TF rangefinder
• /rangefinder/aft/TF: distance from the back TF rangefinder

Out

• /distance/fore: distance to the front
• /distance/aft: distance to the back

speed_controller

Manages the PID control of speed

Functionality

• Receives target speed and current speed
• Implements PID control and calculates a new target speed

Services

Service

• speed_control: provides PID control service to control the motor speed