Module: Giraff_Control_Manager


Module info:

Module name Short description Publishes Subscribes
Giraff_Control_Manager pGiraff_Control_Manager Module in charge of controlling the Operation mode (autonomous/Manual) of a Giraff Robot. GET_PATH , GIRAFF_CONTROL_MODE , PNAVIGATORREACTIVEPTG3D_CMD BATTERY_V , CANCEL_NAVIGATION , Is_Charging , MQTT_CONNECT_STATUS , NAVIGATE_TARGET , PATH , PILOT_MQTT_ACK , SHUTDOWN

MOOS commands accepted by the module:

Parameters accepted in the MOOS mission file:
Parameter Description
check_battery_status Indicates (true/false) if the Giraff controller should periodically check the battery status and return Docking when low.
max_client_ack_interval The maximum interval (seconds) between Client's ACK if use_client_alive_ack=true
use_client_alive_ack Indicates (true/false) if the Giraff controller should periodically check the ACK sent by the MQTT client to cancel Navigation on error.
working_mode Indicates (auto/onlyOpenMORA) if the Giraff controller should listen to the commands sent by a Pilot client, or not.

Detailed description:
pGiraff_Control_Manager Module in charge of controlling the Operation mode (autonomous/Manual) of a Giraff Robot.This module enables the reactive navigation by means of allowing OpenMORA to access the Giraff motors.There is implemented control in case of error or malfunction, stopping the robot and returning the contol to manual mode (Pilot Client)

Module graph:
Giraff_Control_Manager

TODO list:
(None)


Changes log:
(None)



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