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amr-ros-k4/PROJECT_MANAGEMENT.md

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Project Management — AMR ROS2 K4

Project: Blockly ROS2 Robot Controller (Kiwi Wheel AMR) ROS2 Distro: Jazzy Last Updated: 2026-03-08

Planned Packages

Package Purpose Status
blockly_app Desktop Blockly GUI + Action Client ✅ Done
blockly_executor Action Server — command handler registry ✅ Done
blockly_interfaces Custom ROS2 action definitions ✅ Done
kiwi_controller Adaptive control for Kiwi Wheel drive 📋 Planned

Future Tasks

Potential Enhancements

  • Launch files: blockly_bringup package with ROS2 launch files to start all nodes with one command
  • Sensor integration: Subscriber nodes for sensor data feeding back into Blockly visual feedback
  • RealHardware implementation: Fill in ROS2 publishers/service clients for actual Pi hardware nodes (topics TBD)
  • Web-based UI: Replace pywebview with a web server mode for remote access from any browser
  • ROS2 lifecycle nodes: Migrate executor and controller to lifecycle nodes for managed state transitions
  • Simulation: Integrate with Gazebo/Isaac Sim for testing Kiwi Wheel kinematics before deploying to hardware
  • Block categories: Future blocks grouped into Robot, Sensors, Navigation categories