Alysson2024Node.h File Reference

#include <vector>
#include <random>
#include "ros/ros.h"
#include "nav_msgs/OccupancyGrid.h"
#include "std_msgs/String.h"
#include "std_msgs/Int8MultiArray.h"
#include "multirobotsimulations/CustomPose.h"
#include "multirobotsimulations/Frontiers.h"
#include "multirobotsimulations/rendezvous.h"
#include "visualization_msgs/Marker.h"
#include "RendezvousPlan.h"
#include "Common.h"

Include dependency graph for Alysson2024Node.h:

Go to the source code of this file.

Classes
class	Alysson2024Node
	Node that implements the intermittent communication policy. More...

Enumerations
enum	ExplorerState {   state_select_frontier = 2, state_exploring = 3, state_idle = 11, state_exploration_finished = 12,   state_back_to_base = 25, state_back_to_base_finished = 26, state_compute_centroids = 27, state_waiting_centroids = 28,   state_set_back_to_base = 30, state_planning = 31, state_set_rendezvous_location = 55, state_navigating_to_rendezvous = 56,   state_at_rendezvous = 57, state_updating_plan = 58, state_waiting_consensus = 59, state_waiting_centroids_for_plan = 60,   state_select_new_rendezvous = 61, state_select_frontier = 2, state_exploring = 3, state_idle = 11,   state_exploration_finished = 12, state_back_to_base = 25, state_back_to_base_finished = 26, state_compute_centroids = 27,   state_waiting_centroids = 28, state_set_back_to_base = 30, state_planning = 31, state_select_frontier = 2,   state_exploring = 3, state_idle = 11, state_exploration_finished = 12, state_back_to_base = 25,   state_back_to_base_finished = 26, state_compute_centroids = 27, state_waiting_centroids = 28, state_set_back_to_base = 30,   state_planning = 31 }

Enumeration Type Documentation

ExplorerState

enum ExplorerState

Robot states.

Enumerator
state_select_frontier	state responsible to select which frontier cluster to explore.
state_exploring	state responsible to explore a selected location.
state_idle	in this state the robot waits for commands.
state_exploration_finished	this states marks the end of the mission when all frontiers were explored.
state_back_to_base	this state tells that the robot is going to the initial basestation location.
state_back_to_base_finished	this state is used to identify when the robot reached the basestation.
state_compute_centroids	used to wait for the FrontierDiscovery to return frontier clusters.
state_waiting_centroids	in this state, the robot waits for frontier clusters.
state_set_back_to_base	in this state, the robot navigates towards the basestation.
state_planning	in this state, the robot asks for new frontier clusters and also selects which one to explore.
state_set_rendezvous_location	in this state, the robot starts navigating towards its current sub-team rendezvous location.
state_navigating_to_rendezvous	in this state, the robot simply navigate towards the assigned rendezvous location.
state_at_rendezvous	in this state, the robot reached the rendezvous location and can start updating the plan or waiting for the consensus.
state_updating_plan	in this state, the consensus robot updates the plan and send to the other robots.
state_waiting_consensus	in this state, the other robots wait for the information from the consensus robot.
state_waiting_centroids_for_plan	in this state the consensus robot waits for clusters to use as reference updates for new rendezvous locations.
state_select_new_rendezvous	in this state, the consensus robot sends the new rendezvous locations to all other robots.
state_select_frontier
state_exploring
state_idle
state_exploration_finished
state_back_to_base
state_back_to_base_finished
state_compute_centroids
state_waiting_centroids
state_set_back_to_base
state_planning
state_select_frontier
state_exploring
state_idle
state_exploration_finished
state_back_to_base
state_back_to_base_finished
state_compute_centroids
state_waiting_centroids
state_set_back_to_base
state_planning