🔗 Navigation
🔗 Navigation
- Home
- Requirements Specification
- Concept of Operations
- High Level Design
- Software Subsystem: Navigation and FSM
- Software Subsystem: ArUco Marker Detection
- Mechanical Subsystem
- Electrical Subsystem
- Interface Control Document
- Software and Firmware Development
- Testing Documentation
- User Manual
- Areas for Improvement
- Appendix
Requirements Specification
Problem Statement
The system must autonomously explore an unknown environment, detect ArUco markers, transition through mission states, and complete docking and payload-delivery behaviors without manual teleoperation.
Stakeholder Needs
- Autonomous exploration of unknown space.
- Reliable detection and logging of markers.
- Deterministic mission transitions.
- Clear operator setup and shutdown procedures.
Functional Requirements
- FR-01: Build a map and explore frontiers using ROS2 navigation inputs.
- FR-02: Detect ArUco markers from camera input and publish pose data.
- FR-03: Transition between explore, dock, launch, and end states using mission logic.
- FR-04: Allow simulation and real-robot operation through launch arguments.
- FR-05: Support shooter hardware gating through launch-time parameters.
Non-Functional Requirements
- NFR-01: The system shall be launchable with a single top-level bringup.
- NFR-02: The system shall expose stable topic contracts for integration.
- NFR-03: The documentation shall remain markdown-first and Pages-compatible.
Constraints
- ROS2 Humble environment.
- TurtleBot3 Burger hardware and camera availability.
- Separate laptop and robot runtime responsibilities.
Acceptance Criteria
- The robot can start from the documented launch sequence.
- Navigation, markers, and mission control can be launched independently.
- The full mission stack exposes the expected topics and launch arguments.
Requirement Traceability
| Requirement | Primary doc | Validation doc |
|---|---|---|
| FR-01 | High Level Design | Testing Documentation |
| FR-02 | Software Subsystem: ArUco Marker Detection | Testing Documentation |
| FR-03 | High Level Design | Interface Control Document |
| FR-04 | Software and Firmware Development | User Manual |
| FR-05 | Interface Control Document | Testing Documentation |
Open Assumptions
- The operator will launch the system from the documented workspace.
- The camera and LiDAR topics are available in the selected runtime mode.