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amr-ros-k4/readme.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
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Dokumentasi lengkap dapat dilihat di [DOCUMENTATION.md](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
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---
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# Potential Enhancements
this list is short by priority
- **Enhance UI**: add tab to get generate version of block blocky, export/import from/to block blocky generated file, fixing visibelity text color in left colom view (curently it greyed with white text).
- **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
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| Package | Purpose | Status |
|---------|---------|--------|
feat: add support for real hardware in blockly_executor - Introduced RealHardware class for communication with hardware nodes via ROS2. - Updated ExecutorNode to select between RealHardware and DummyHardware based on a parameter. - Refactored command handlers to use a decorator for registration, simplifying the handler registration process. - Removed the base HandlerModule class and integrated handler registration directly in the handler functions. - Updated GPIO and timing command handlers to use the new registration method. - Added new executor command for running with real hardware.
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| `blockly_app` | Desktop Blockly GUI + Action Client | ✅ Done |
| `blockly_executor` | Action Server — command handler registry | ✅ Done |
| `blockly_interfaces` | Custom ROS2 action definitions | ✅ Done |
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| `kiwi_controller` | Adaptive control for Kiwi Wheel drive | 📋 Planned |
feat: add support for real hardware in blockly_executor - Introduced RealHardware class for communication with hardware nodes via ROS2. - Updated ExecutorNode to select between RealHardware and DummyHardware based on a parameter. - Refactored command handlers to use a decorator for registration, simplifying the handler registration process. - Removed the base HandlerModule class and integrated handler registration directly in the handler functions. - Updated GPIO and timing command handlers to use the new registration method. - Added new executor command for running with real hardware.
2026-03-08 21:55:50 +07:00
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# Future Tasks
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<!-- Add new phases / features here -->