A ROS 2 workspace for autonomous delivery robot with sensor monitoring, mission planning, and custom interfaces.

🚀 Quick Start

Build the workspace

# Make the script executable (first time only)
chmod +x build.sh

# Build
sh build.sh

Run all nodes at once

# Make the script executable (first time only)
chmod +x run_all_nodes.sh

# Run all nodes
sh run_all_nodes.sh

Run individual nodes

# Source the workspace first
source install/setup.bash

# Then run any node
ros2 run sensor_nodes battery_monitor
ros2 run sensor_nodes lidar_simulator
ros2 run sensor_nodes odometry_simulator
ros2 run sensor_nodes sensor_processor
ros2 run mission_nodes mission_planner
ros2 run command_nodes command_handler

📦 Packages

• delivery_interfaces - Custom messages, services, and actions
• sensor_nodes - Battery monitor, LIDAR/odometry simulators, sensor processor
• mission_nodes - Mission planner with action client
• command_nodes - Command handler for emergency stop and diagnostics

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📊 Architecture Diagrams

Sequence diagram for mission planning and battery-based cancellation

sequenceDiagram
actor User
participant MissionPlanner
participant "ActionServer(/navigate_to)"
participant "BatteryMonitor"
User->>MissionPlanner: Start mission
MissionPlanner->>"ActionServer(/navigate_to)": Send NavigateTo goal
"BatteryMonitor"->>MissionPlanner: Publish BatteryStatus
MissionPlanner->>MissionPlanner: Check battery threshold
alt Battery low and auto_cancel enabled
  MissionPlanner->>"ActionServer(/navigate_to)": Cancel goal
end
"ActionServer(/navigate_to)"->>MissionPlanner: Send feedback/result
MissionPlanner->>User: Mission summary

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ER diagram for new delivery_interfaces and robot_interfaces services/messages

erDiagram
BATTERY_STATUS {
  float level
  string health_status
  bool is_charging
  float voltage
}
LIDAR_SCAN {
  float[] distances
  float[] angles
  int obstacle_count
}
ODOMETRY {
  float x
  float y
  float theta
  float linear_velocity
  float angular_velocity
}
SENSOR_FUSION {
  float battery_level
  int obstacle_count
  float position_x
  float position_y
  string overall_status
}
EMERGENCY_STOP {
  bool emergency
  bool success
  string message
}
SYSTEM_DIAGNOSTIC {
  bool full_report
  bool system_ok
  string status_message
  string[] components
  string[] statuses
  float battery_level
  int error_count
}
GET_ROBOT_INFO {
  string robot_state
  float position_x
  float position_y
  float battery_level
  string current_mission
  string[] active_topics
}
BATTERY_STATUS ||--o{ SENSOR_FUSION : provides
LIDAR_SCAN ||--o{ SENSOR_FUSION : provides
ODOMETRY ||--o{ SENSOR_FUSION : provides

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Class diagram for new and updated ROS2 nodes

classDiagram
class BatteryMonitor {
  +float battery_level
  +bool is_charging
  +bool robot_moving
  +publish_battery_status()
}
class LidarSimulator {
  +create_publisher(LidarScan)
  +timer_callback()
}
class OdometrySimulator {
  +float x
  +float y
  +float theta
  +timer_callback()
}
class SensorProcessor {
  +SensorFusion pub_fusion
  +LidarScan sub_lidar
  +Odometry sub_odom
  +BatteryStatus sub_battery
  +fusion_timer()
  +mock_battery_timer()
}
class MissionPlanner {
  +ActionClient _nav_client
  +BatteryStatus sub_battery
  +_start_initial_mission()
  +_goal_response_callback()
  +_feedback_callback()
  +_result_callback()
  +_cancel_goal_async()
}
class CommandHandler {
  +EmergencyStop handle_emergency_stop()
  +SystemDiagnostic handle_system_diagnostic()
  +GetRobotInfo handle_get_robot_info()
}
BatteryMonitor --> "1" BatteryStatus
LidarSimulator --> "1" LidarScan
OdometrySimulator --> "1" Odometry
SensorProcessor --> "1" SensorFusion
SensorProcessor --> "1" LidarScan
SensorProcessor --> "1" Odometry
SensorProcessor --> "1" BatteryStatus
MissionPlanner --> "1" NavigateTo
MissionPlanner --> "1" BatteryStatus
CommandHandler --> "1" EmergencyStop
CommandHandler --> "1" SystemDiagnostic
CommandHandler --> "1" GetRobotInfo

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