====================================================
Final Project: Search and Rescue
====================================================


Overview
========

.. list-table::
   :widths: 30 70
   :class: compact-table

   * - **Due Date**
     - May 9, 2026, 11:59 PM EST (preferred); May 12, 2026, 11:59 PM EST (hard deadline)
   * - **Total Points**
     - 100 points
   * - **Submission**
     - Canvas (zip the ``~/enpm605_ws/src/final_project/`` folder and
       submit as ``group<N>_final_project.zip``)
   * - **Collaboration**
     - Groups of 2.
   * - **Late Policy**
     - 10% deduction per calendar day, up to 3 days. Zero after 3 days.
   * - **Peer Review**
     - Final grade: 60% assignment grade + 40% peer review score.


.. dropdown:: Description
   :open:

   This is a **group project** (2 students per group). You will
   build a ROS 2 system that commands a ``rosbot`` to perform a
   **search and rescue mission** in a simulated disaster zone. The
   robot must:

   1. Navigate to a series of predefined **search zones** using Nav2.
   2. At each zone, call a **simulated detection service** (no
      vision -- a simple dictionary lookup) to check for survivors.
   3. If a survivor is found, **broadcast a TF frame** marking their
      location and call a **notification service** to report the find.
   4. After visiting every zone, **return to the base station**.

   The robot's decision-making is orchestrated by a **behavior tree**
   built with ``py_trees`` and ``py_trees_ros``. All mission
   parameters (search zones, base station pose, BT tick rate) are
   loaded from a **YAML parameter file** -- see the
   :ref:`final-project-parameter-file` section in
   :doc:`requirements` for the exact schema.


.. dropdown:: Learning Objectives
   :open:

   .. grid:: 1 2 2 2
       :gutter: 2

       .. grid-item-card:: Behavior Trees
           :class-card: sd-border-info

           Design and implement a multi-level behavior tree with
           conditions, actions, and composites (Sequence and
           Selector). Understand ``memory=True`` vs ``memory=False``
           for reactive and resuming behavior.

       .. grid-item-card:: Nav2 Integration
           :class-card: sd-border-info

           Use the ``NavigateToPose`` action to send the robot to
           goal poses on a known map. Handle navigation success and
           failure within the behavior tree.

       .. grid-item-card:: Custom Services
           :class-card: sd-border-info

           Define and implement custom ``.srv`` interfaces
           (``DetectSurvivor`` and ``ReportSurvivor``). Call them
           from behavior tree action nodes using synchronous service
           clients.

       .. grid-item-card:: TF2 Frames
           :class-card: sd-border-info

           Broadcast static TF frames for discovered survivors
           relative to the ``map`` frame. Use ``tf2_ros`` to publish
           and verify transforms.

       .. grid-item-card:: Parameter Configuration
           :class-card: sd-border-info

           Load mission parameters (search zones, base station pose,
           BT tick rate) from a YAML file. Expose at least one value
           as a launch argument for runtime override.

       .. grid-item-card:: Launch File Integration
           :class-card: sd-border-info

           Write a Python launch file that starts all required nodes,
           loads the parameter file, and exposes launch arguments.
           Integrate with the Nav2 stack and Gazebo simulation.

   .. |rarr| unicode:: U+2192


.. dropdown:: Suggested Timeline
   :open:

   You have **two weeks** (April 27 |rarr| May 9, preferred; May 12
   hard deadline). The schedule below is a suggestion; adjust based
   on your group's pace.

   .. list-table::
      :widths: 18 12 70
      :header-rows: 1
      :class: compact-table

      * - Period
        - Duration
        - Tasks
      * - **Days 1 to 3**
        - 3 days
        - Read the assignment carefully. Review Lectures 12 and 13
          (behavior trees, Nav2). Launch the simulation, **build a
          map of the world with** ``slam_toolbox`` and save it under
          ``group<N>_final/maps/`` (see :ref:`final-project-build-the-map`), then
          confirm Nav2 localizes against your saved map. Create the
          package skeletons. Define the service interfaces.
          Implement the ``ZoneManager`` class and the simulated
          service servers (``DetectSurvivor`` and ``ReportSurvivor``).
      * - **Days 4 to 7**
        - 4 days
        - Implement the behavior tree leaf nodes: ``NavigateToZone``,
          ``NavigateToBase``, ``DetectSurvivor``,
          ``BroadcastSurvivorTF``, ``NotifyBase``, ``AdvanceZone``,
          ``LogNoDetection``. Implement condition nodes:
          ``ZonesRemaining``, ``IsSurvivorDetected``. Test each node
          individually.
      * - **Days 8 to 11**
        - 4 days
        - Assemble the full behavior tree in the entry point script.
          Write the launch file. Integrate with Nav2. Test the full
          pipeline end to end: all zones visited, survivors detected
          and reported, TF frames broadcast, robot returns to base.
      * - **Days 12 to 14**
        - 3 days
        - Write ``README.md``. Code quality pass (docstrings, type
          hints, comments, Ruff). Test edge cases (no survivor at
          a zone, all four zones visited, return to base). Remove
          cache directories. Package and submit.

----



.. toctree::
   :hidden:
   :maxdepth: 1
   :titlesonly:

   infrastructure
   requirements
   implementation_guide
   outputs
   submission
   rubric
   code