Project Management — AMR ROS2 K4

Project: Blockly ROS2 Robot Controller (Kiwi Wheel AMR) ROS2 Distro: Jazzy Last Updated: 2026-03-09 Current Focus: kiwi_controller — Adaptive control for Kiwi Wheel drive

Dokumentasi lengkap dapat dilihat di DOCUMENTATION.md.

Aturan pengggunaan dokumen

bab pada dokumen merepresentasikan alur rencana pengembangan. Potential Enhancements : Feasibility Study Planned Feature : Backlog Feature Task : Penjabaran Pekerjaan yang ready untuk dikerjakan. Task harus dijelaskan apa yang akan dikerjakan dan terdapat definition of done nya

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Potential Enhancements

this list is short by priority

• 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)
• 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

Planned Feature

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
Enhance UI	Tab Code preview, Export/Import, dark toolbox	✅ Done

Feature Task

Enhance UI

#	Task	Status
1	Fix toolbox text color (dark theme via Blockly.Theme.defineTheme)	✅ Done
2	Add "Code" tab — realtime generated JS preview	✅ Done
3	Export/Import workspace (.json) via toolbar buttons	✅ Done

Files changed:

• src/blockly_app/blockly_app/ui/blockly/workspace-init.js — dark theme definition + code panel change listener
• src/blockly_app/blockly_app/ui/blockly/core/ui-tabs.js (new) — switchTab(), refreshCodePanel()
• src/blockly_app/blockly_app/ui/blockly/core/workspace-io.js (new) — exportWorkspace(), importWorkspace() via await window.pywebview.api
• src/blockly_app/blockly_app/ui/index.html — CSS, HTML tab bar, code panel, toolbar buttons
• src/blockly_app/blockly_app/app.py — save_workspace(), load_workspace() via zenity subprocess

Note — Export/Import implementation: pywebview.create_file_dialog dan QFileDialog via QTimer.singleShot keduanya gagal dari background thread (deadlock / no event loop). Solusi final: tkinter.filedialog — interpreter Tcl/Tk terpisah dari Qt, tidak ada konflik thread, sudah tersedia di pixi environment tanpa dependency tambahan.