Task Manager for Terrawarden MQP

Overview

Run Instructions:

ros2 launch task_manager just_manager.launch.py ros2 launch task_manager all_nodes.launch.py

Move into SEARCH from HOLD with ros2 topic pub -1 /manager_set_state std_msgs/msg/String "{data: 'SEARCH'}"

Recommended Topic Listeners:

• ros2 topic echo /drone/telemetry
• ros2 topic echo /manager_state

State Machine:

The task manager has ten states. Of these, six are behavior-states, two are for transitions, and another two are for failsafe conditions

class State(Enum):
    STARTUP = "STARTUP"     # Does nothing until drone is moved into offboard mode
    HOLD = "HOLD"           # Holds position until commanded to move into a different state
    SEARCHING = "SEARCH"    # Slowly spins until target object detected
    NAVIGATING = "NAV"      # Approaches object until stopped at a fixed offset from object (with manipulator workspace) 
    TRACKING = "TRACK"      # Live track objects position using manipulator, with an offset to not block camera view of object
    GRASPING = "GRASP"      # Once aligned with object, attempts to grasp can. Checks gripper current to verify
    DEPOSITING = "DEPOSIT"  # Flies back to home position with object and releases
    WAITING = "WAIT"        # Adds a time delay or boolean condition between state transitions
    FAILSAFE = "FAILSAFE"   # Flies back to home position in condition of RC signal lost
    LANDING = "LAND"        # After arriving back at home position in FAILSAFE, attempts to land autonomously

Running Unit Tests

From ROS2 workspace root: colcon test colcon test-results --all

Launch Arguments

Debug & General Settings

Name	Default	Description
manager_debug	0x11111	Bitwise debug flags to control which parts of code can log messages. Bits in order (MSB first): publish, drone, detect, vbm, arm
override_errors	False	Disables failsafe and ground clearance error checks for bench testing
enable_stow	True	Disables failsafe and ground clearance error checks for bench testing

Topic Configuration

Name	Default	Type	Description
drone_pose_topic	/drone/waypoint	CustomMessages/DroneWaypoint	Sends target pose to drone
drone_telemetry_topic	/drone/telemetry	CustomMessages/DroneTelemetry	Receives Telemetry from Drone Node
detection_topic	/live_detection	vision_msgs/Detection2D	Receives Detection from LiveDetect Node
vbm_extract_topic	/extract_centroid	geometry_msgs/PointStamped	Receives 3D point from VBM extract_cluster
vbm_grasp_topic	/grasp_read	geometry_msgs/PoseStamped	Receives grasp from VBM optimal_grasp
grasp_command_topic	/force_grasp	std_msgs/Bool	Sends gripper open/close commands
arm_command_topic	/move_arm_command	CustomMessages/ArmCommand	Sends trajectories to Arm Node
arm_status_topic	/arm_status	CustomMessages/ArmStatus	Status message from Arm Node
arm_stow_service_topic	/stow_arm	None	Stow Service Call to Arm Node
arm_unstow_service_topic	/unstow_arm	None	Unstow Service Call to Arm Node
state_topic	/manager_state	std_msgs/String	Sends current manager state information
state_setter_topic	/manager_set_state	std_msgs/String	Recieves set_state information

all_nodes.launch.py

This launch file launches the TaskManager alongside all other nodes necessary for the operation of this drone, including ManipulatorControl, DroneControl, LiveDetection, VBM_ExtractCluster, and the Intel Realsense nodes. It contains all launch arguments for this node as well as the aforementioned (except realsense, which has been configured with tuned values), with no changes to argument names.

TODO

Some ideas future years. These are not comprehsensive and not in any particular order.

1. Better search procedures
2. An actual implementation for DEPOSIT (original thought was to search for a trash can lol)
3. Removal of some unused code?
4. Merge in rest of unit tests from unit_tests branch, write tests for all nodes
5. Merge in code standardization steps from the standardizing-code branch