31 lines
1.3 KiB
Markdown
31 lines
1.3 KiB
Markdown
# Project Management — AMR ROS2 K4
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> **Project**: Blockly ROS2 Robot Controller (Kiwi Wheel AMR)
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> **ROS2 Distro**: Jazzy
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> **Last Updated**: 2026-03-08
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---
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## Planned Packages
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| Package | Purpose | Status |
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|---------|---------|--------|
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| `blockly_app` | Desktop Blockly GUI + Action Client | ✅ Done |
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| `blockly_executor` | Action Server — command handler registry | ✅ Done |
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| `blockly_interfaces` | Custom ROS2 action definitions | ✅ Done |
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| `kiwi_controller` | Adaptive control for Kiwi Wheel drive | 📋 Planned |
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## Future Tasks
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<!-- Add new phases / features here -->
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### Potential Enhancements
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- **Launch files**: `blockly_bringup` package with ROS2 launch files to start all nodes with one command
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- **Sensor integration**: Subscriber nodes for sensor data feeding back into Blockly visual feedback
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- **RealHardware implementation**: Fill in ROS2 publishers/service clients for actual Pi hardware nodes (topics TBD)
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- **Web-based UI**: Replace pywebview with a web server mode for remote access from any browser
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- **ROS2 lifecycle nodes**: Migrate executor and controller to lifecycle nodes for managed state transitions
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- **Simulation**: Integrate with Gazebo/Isaac Sim for testing Kiwi Wheel kinematics before deploying to hardware
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- **Block categories**: Future blocks grouped into Robot, Sensors, Navigation categories
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