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localization (kalman) (state (regulateur (wrench (QPTA (cmd…
localization
(kalman)
state
regulateur
wrench
QPTA
cmd
actuator
Sensors
sensors
topics
logs
diag
TF Server
Waypoint Manager
progression
Mission Planning
progression
fin d d'exploration
State Manager
zone a explorer
IHM
liste de WP
Param Server
sensors
pose
Reg CdV
cmd
QPTA
cmd
Actuator
CdV msg
kalman
latching +docking state
sensors
direction cible
kalman
pose cible dans le
plan camera xy
reg visuel
cmd
qpta
actuators
check cov
Mission Planner
State Manager
notif/confirmation
image traitée
IHM
sensors
kalman
state
controle
+
Gestion mode
Wrench
QPTA
image
IHM
State Manager
Détecteur de cible
cible detectee
IHM
validation
latch
State Manager
Mission Planner
cmd latch
pose
Joystick
HMI
State manager
Idle
Docking (markers)
Docking (target)
actuators
Autonomous exploration
Autonomous approach
Manual assisted
joy
cmd
Pareil que approche autonome
Docking sans marqueurs