Modules & Interfaces

Mission Layer

Unified entry for behavior trees, state monitoring, goal dispatch, and mission-execution modules.

Layer Role

The mission layer answers two questions:

  1. what the robot should do now
  2. who dispatches, monitors, and advances that task

It does not own low-level trajectory generation, and it is not a hardware-facing layer.

mission/
├── navigation/
└── manipulation/

Recommended organization:

mission/
├── navigation/
│   ├── venom_waypoint/
│   ├── venom_nav_bt/
│   ├── venom_global_monitor/
│   └── venom_mission_manager/
└── manipulation/
    ├── venom_grasp_mission/
    └── venom_pick_place_manager/

Boundary Against Planning

  • planning/ answers how to generate paths, trajectories, and control outputs
  • mission/ answers when to dispatch goals, switch tasks, and react to state transitions

Examples:

  • venom_eagle_planner and venom_teb_controller belong under planning/navigation/
  • venom_waypoint, venom_nav_bt, and venom_global_monitor belong under mission/navigation/
  • venom_moveit_grasp belongs under planning/manipulation/
  • venom_grasp_mission belongs under mission/manipulation/
  • navigation task entry: venom_waypoint
  • navigation behavior tree: venom_nav_bt
  • global state monitor: venom_global_monitor
  • mission manager: venom_mission_manager
  • grasp-task flow: venom_grasp_mission

Current Status

The main workspace now contains a committed mission/ directory with placeholder navigation/ and manipulation/ subfolders.

Future behavior-tree, waypoint, listener, and task-dispatch packages should be placed here instead of continuing to grow inside venom_bringup.

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