Bruce Lee's Notes

Systems, programming, and engineering practice

Why Planning Uses Services While State and Assignments Use Topics

ROS2

Why Planning Uses Services While State and Assignments Use Topics Why do submit_task and plan_route use services, while robot_states, task_assignments, and task_statuses use topics? This looks like......

Posted by Bruce Lee on 2025-03-28

Robotics

Why the Project Has Not Chosen Nav2-First Integration

ROS2

Why the Project Has Not Chosen Nav2-First Integration A natural question about ~/project-a/ros2-fleet-coordinator/ is why a ROS 2 multi-robot project did not integrate Nav2 from the beginning. Maps......

Posted by Bruce Lee on 2025-03-25

Robotics

DDS Sandbox Restrictions and the Limits of ROS 2 Runtime Verification

ROS2

DDS Sandbox Restrictions and the Limits of ROS 2 Runtime Verification Some behavior that remains unverified in this project is blocked by restrictions on ROS 2 communication in the execution enviro......

Posted by Bruce Lee on 2025-03-24

Robotics

Why Conflict Detection and Reservations Are the Next Major Complexity Increase

ROS2

Why Conflict Detection and Reservations Are the Next Major Complexity Increase V1 has established a minimal loop: tasks enter the system, the manager assigns them, the planner returns routes, and a......

Posted by Bruce Lee on 2025-03-21

Robotics

robot_agent: Execution States and Waypoint Progression

ROS2

robot_agent: Execution States and Waypoint Progression After fleet_manager and path_planner, the third core module to examine is robot_agent. The manager assigns work, the planner turns it into a r......

Posted by Bruce Lee on 2025-03-17

Robotics