This directory preserves the original PhD-era ROS 1 repository contents with as little behavioral change as possible. The files were moved here to make the top-level repository easier to understand, not because they stopped mattering.
ros_nodes/: original ROS 1 Python nodes, wrappers, prototypes, and utilitieslaunch/: original launch fileshddl/: original HDDL domains and problemsplans/: saved planner outputs used during experiments
- The code here still reflects its research context and hardware assumptions.
- Several scripts contain mission-specific paths, ROS topic names, and hard-coded deployment details.
- Some files are prototypes or intermediate experiments rather than polished runtime components.
- The refactored package in
src/igluna_task_planning/is the recommended starting point for new work. - A few obvious dead-end experiments and compiled artifacts were removed during cleanup.
- For practical notes on how to interpret or re-host the preserved ROS 1 executors, see
../docs/ros1-usage.md.
ros_nodes/hddl_rover_plan_executor.py: most complete HDDL-to-SMACH mission executor for the collaborative rover scenarioros_nodes/hddl_waypoint_plan_executor.py: earlier HDDL-to-SMACH wrapper centered on waypoint navigationros_nodes/occupancy_grid_to_visibility.py: occupancy-grid to waypoint-visibility conversion prototyperos_nodes/mission_mode_state_machine.pyandros_nodes/mission_mode_states.py: higher-level mission mode and fault-handling experimentsros_nodes/mapping_pipeline_state_machine.py: mapping-related prototypelaunch/rover_task_planning.launch,launch/waypoint_mission.launch, andlaunch/smach_viewer.launch: legacy ROS 1 launch files
When publishing or extending the repository, it is usually better to treat this directory as reference material and build from the cleaned modules and docs instead.