====================================================
Expected Output
====================================================

.. |rarr| unicode:: U+2192


Nominal Run (Full Mission)
==========================

The following shows an example of the expected log output when the
full system is running correctly. The robot visits all four zones,
detects survivors in zones A and C, broadcasts TF frames, reports
findings, and completes the mission. Timestamps are abbreviated.
Exact numeric values will vary.

.. only:: html

   .. admonition:: Walkthrough video: nominal run
      :class: dropdown tip

      The video below shows a complete mission end-to-end: Gazebo,
      RViz, the launch terminal, and a filtered ``ros2 topic
      echo /rosout`` (only ``search_and_rescue``-prefixed log
      lines). Click the play button to start it -- the video does
      not autoplay.

      .. raw:: html

         <video controls preload="metadata" width="100%"
                style="max-width: 1100px; display: block; margin: 0 auto;">
           <source src="../../_static/videos/final_project/demo_final_project.mp4"
                   type="video/mp4">
           Your browser does not support embedded MP4 video.
           <a href="../../_static/videos/final_project/demo_final_project.mp4">Download the video</a>.
         </video>

.. code-block:: text

   [INFO] [detect_survivor_server]: DetectSurvivor service ready.
   [INFO] [report_survivor_server]: ReportSurvivor service ready.
   [INFO] [search_and_rescue]: Loaded 4 search zones from parameters.
   [INFO] [search_and_rescue]: Base station at (0.00, 0.00, yaw=0.00).

   [INFO] [basic_navigator]: Seeding AMCL with initial pose (0.00, 0.00, yaw=0.00)...
   [INFO] [basic_navigator]: Waiting for Nav2 (AMCL + BT navigator) to become active...
   [INFO] [basic_navigator]: Setting initial pose
   [INFO] [basic_navigator]: Waiting for amcl_pose to be received
   [INFO] [basic_navigator]: Nav2 is ready for use!
   [INFO] [search_and_rescue]: Nav2 is active.

   [INFO] [search_and_rescue]: --- Zone 1/4: zone_a (-3.00, 3.00) ---
   [INFO] [search_and_rescue]: Navigating to zone_a...
   [INFO] [search_and_rescue]: Reached zone_a.
   [INFO] [search_and_rescue]: Calling detect_survivor for zone_a...
   [INFO] [detect_survivor_server]: Detection request for zone_a: FOUND at (-2.50, 3.20)
   [INFO] [search_and_rescue]: Survivor detected at zone_a!
   [INFO] [search_and_rescue]: Broadcasting TF frame: survivor_1 at (-2.50, 3.20) in map frame.
   [INFO] [search_and_rescue]: Reporting survivor_1 to base...
   [INFO] [report_survivor_server]: Report received: survivor_1 at (-2.50, 3.20). Acknowledged.
   [INFO] [search_and_rescue]: Base acknowledged survivor_1.

   [INFO] [search_and_rescue]: --- Zone 2/4: zone_b (3.50, 3.00) ---
   [INFO] [search_and_rescue]: Navigating to zone_b...
   [INFO] [search_and_rescue]: Reached zone_b.
   [INFO] [search_and_rescue]: Calling detect_survivor for zone_b...
   [INFO] [detect_survivor_server]: Detection request for zone_b: NOT FOUND
   [INFO] [search_and_rescue]: No survivor found at zone_b.

   [INFO] [search_and_rescue]: --- Zone 3/4: zone_c (4.00, -3.00) ---
   [INFO] [search_and_rescue]: Navigating to zone_c...
   [INFO] [search_and_rescue]: Reached zone_c.
   [INFO] [search_and_rescue]: Calling detect_survivor for zone_c...
   [INFO] [detect_survivor_server]: Detection request for zone_c: FOUND at (4.10, -2.50)
   [INFO] [search_and_rescue]: Survivor detected at zone_c!
   [INFO] [search_and_rescue]: Broadcasting TF frame: survivor_2 at (4.10, -2.50) in map frame.
   [INFO] [search_and_rescue]: Reporting survivor_2 to base...
   [INFO] [report_survivor_server]: Report received: survivor_2 at (4.10, -2.50). Acknowledged.
   [INFO] [search_and_rescue]: Base acknowledged survivor_2.

   [INFO] [search_and_rescue]: --- Zone 4/4: zone_d (-3.50, -3.00) ---
   [INFO] [search_and_rescue]: Navigating to zone_d...
   [INFO] [search_and_rescue]: Reached zone_d.
   [INFO] [search_and_rescue]: Calling detect_survivor for zone_d...
   [INFO] [detect_survivor_server]: Detection request for zone_d: NOT FOUND
   [INFO] [search_and_rescue]: No survivor found at zone_d.

   [INFO] [search_and_rescue]: All zones visited. Returning to base.
   [INFO] [search_and_rescue]: Navigating to base station...
   [INFO] [search_and_rescue]: Reached base station.
   [INFO] [search_and_rescue]: Mission complete.


Verification Commands
=====================

Use these commands to test individual components.

.. code-block:: console

   # 1. Launch the Gazebo simulation (terminal 1)
   ros2 launch rosbot_gazebo final_project_world.launch.py

   # 2. Launch the mission (terminal 2). This single launch file
   # brings up Nav2 (with your saved map under
   # group<N>_final/maps/final_project_map.yaml), the two service
   # servers, and the BT node.
   ros2 launch group<N>_final search_and_rescue.launch.py

   # 3. Check TF frames for discovered survivors
   ros2 run tf2_ros tf2_echo map survivor_1
   ros2 run tf2_ros tf2_echo map survivor_2

   # 4. List all static transforms
   ros2 topic echo /tf_static --once

   # 5. List available services
   ros2 service list | grep -E "detect|report"

   # 6. Test detection service manually
   ros2 service call /detect_survivor \
       group<N>_final_interfaces/srv/DetectSurvivor \
       "{zone_id: 'zone_a'}"

   # 7. Show launch arguments
   ros2 launch group<N>_final search_and_rescue.launch.py --show-args