Architecture

Architecture

The package is intentionally small.

Core pieces

• raster_scanner
  • ROS 2 node that owns the scan service, TF access, arm control action client, and perception action client
• PlanScanPath.srv
  • service contract used by door_disassemble

Dependencies used at runtime

• eddie_ros/action/ArmControl
  • executes each relative arm move
• my_robot_interfaces/action/RunVision
  • used after each waypoint with task_name = detect_screws
• TF
  • used to read the current end-effector pose and normalize incoming corner poses into the base frame

Source links

• src/raster_scanner.py
• srv/PlanScanPath.srv