Service Interfaces (8 pts) |
|
|
DetectSurvivor.srv definition
|
2 |
Request and response fields match the specification exactly. |
ReportSurvivor.srv definition
|
2 |
Request and response fields match the specification exactly
(uses geometry_msgs/PointStamped). |
CMake package configuration |
4 |
CMakeLists.txt generates both interfaces via
rosidl_generate_interfaces with geometry_msgs
dependency. package.xml includes all required entries.
Package builds cleanly.
|
Service Servers (10 pts) |
|
|
DetectSurvivorServer |
5 |
Advertises detect_survivor service. Returns correct
found status and survivor coordinates based on a
hardcoded lookup. Logs each request. |
ReportSurvivorServer |
5 |
Advertises report_survivor service. Logs the survivor ID
and location. Returns acknowledged=True. |
ZoneManager (8 pts) |
|
|
Class implementation |
5 |
All required methods implemented (current_zone,
has_remaining, advance, base_pose,
next_survivor_id). State is managed correctly. |
Integration with BT nodes |
3 |
ZoneManager instance is shared via constructor injection.
BT nodes correctly read and modify zone state.
|
Condition Nodes (6 pts) |
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|
ZonesRemaining
|
3 |
Queries zone_manager.has_remaining(). Returns correct
status. |
IsSurvivorDetected
|
3 |
Reads detection result from the DetectSurvivor action
node via direct reference. Returns correct status. |
Action Nodes (28 pts) |
|
|
NavigateToZone
|
8 |
Sends NavigateToPose goal to Nav2 for the current zone.
Returns RUNNING while navigating, SUCCESS on arrival,
FAILURE on Nav2 failure. Cancels the goal on
terminate(). |
NavigateToBase
|
4 |
Same as NavigateToZone but targets
zone_manager.base_pose(). |
DetectSurvivor (BT node)
|
6 |
Calls the detect_survivor service with the current zone
ID. Stores result internally. Exposes was_found() and
survivor_pose() methods. Returns SUCCESS after the
service call completes. |
BroadcastSurvivorTF
|
5 |
Creates a StaticTransformBroadcaster. Publishes a static
TF frame (survivor_N) at the correct pose in the map
frame. Frame is verifiable via
ros2 run tf2_ros tf2_echo map survivor_N. |
NotifyBase
|
3 |
Calls the report_survivor service with the survivor ID
and location. Returns SUCCESS if acknowledged. |
AdvanceZone and LogNoDetection
|
2 |
AdvanceZone calls zone_manager.advance().
LogNoDetection logs and returns SUCCESS. Both are
correct.
|
Tree Assembly (10 pts) |
|
|
Correct tree structure |
7 |
Tree matches the specified structure: root Selector,
Patrol Sequence, HandleDetection Selector, SurvivorFound
Sequence, terminal NavigateToBase. Correct parent-child
relationships. |
memory flags
|
3 |
Root Selector uses memory=False (reactive). Patrol
Sequence uses memory=True (resuming).
HandleDetection Selector uses memory=False.
SurvivorFound Sequence uses memory=True (resuming, so
BroadcastSurvivorTF does not re-allocate a survivor ID
on the RUNNING ticks while NotifyBase is waiting on
its service future). Justification provided in README. |
Map (5 pts) |
|
|
Saved map files |
3 |
group<N>_final/maps/ contains a valid
final_project_map.pgm plus matching
final_project_map.yaml, produced by slam_toolbox +
nav2_map_server. Free, occupied, and unknown regions
look correct.
|
AMCL localization against the saved map |
2 |
ros2 launch group<N>_final search_and_rescue.launch.py
brings up Nav2 with the saved map and the BT entry point
auto-seeds AMCL at the spawn pose
(BasicNavigator.setInitialPose) and waits for Nav2 to
reach ACTIVE
(waitUntilNav2Active) before ticking the tree – no
manual 2D Pose Estimate click required.
|
Launch File (8 pts) |
|
|
All nodes started |
3 |
Launch file starts the BT node and both service servers.
All use output="screen" and emulate_tty=True. |
Parameter file loading |
3 |
config/mission_params.yaml is loaded for the BT node
via the parameters field, and
config/nav2_params.yaml is forwarded to the Nav2
bringup include via params_file:=. Both paths are
resolved with get_package_share_directory().
|
Launch arguments |
2 |
At least one launch argument declared and forwarded to the
BT node. --show-args displays it correctly. |
Documentation and Code Quality (17 pts) |
|
|
README.md contributions |
5 |
README.md contains a contributions section with every
group member listed and a short, specific summary.
|
README.md BT design |
3 |
Brief explanation of memory flag choices and tree design
rationale. |
Docstrings and type hints |
3 |
Every class and method has a Google-style docstring. All
method parameters and return types have type annotations. |
Logging and code quality |
6 |
ROS 2 logger used exclusively (no print()). Correct
severity levels. Consistent snake_case naming. No Ruff
linting errors. |
TOTAL |
100 |
|
