Modular Multi-Mission Rover System (ROS 2 Jazzy)

This project simulates a modular multi-mission rover system in ROS 2 Jazzy using rclpy and turtlesim. It demonstrates how to design and integrate Science, Delivery, Equipment Servicing, and Autonomous Navigation missions using proper ROS 2 communication paradigms: topics, services, actions, and parameters.

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System Overview

Mission Modes

• Science Mission
  Turtle moves to a site and “documents” it by capturing a dummy image and GNSS coordinate.

• Delivery Mission
  Turtle moves between pickup and delivery points using ROS 2 Actions.

• Equipment Servicing Mission
  Turtle performs simulated maintenance operations on a lander.

• Autonomous Navigation Mission
  Turtle autonomously visits multiple waypoints (GNSS & vision targets) while printing LED status.

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System Architecture

• Each mission runs as a separate node, managed by a central Mission Manager Node.
• All missions communicate via topics, actions, and parameters.

Feature	Used For	Example
Topic	Publishing movement commands	/turtle1/cmd_vel
Service	Mission mode switching	/set_mission_mode
Action	Delivery pick-and-place tasks	/delivery_action
Parameters	Selecting mission mode dynamically	mission_mode
LifecycleNode (optional)	Managing mission states	MissionManager lifecycle transitions

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📝 Node Descriptions

1. Science Node (science_node.py)

• Moves turtle to predefined waypoints (“sites”).
• Simulates camera capture (dummy_image.jpg or webcam snapshot).
• Logs GNSS coordinates and stores them with the image.
• Key Concepts:
  • Publisher for /turtle1/cmd_vel
  • Service or timer for taking “pictures”
  • File writing for simulated GNSS logs

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2. Delivery Node (delivery_node.py)

• Implements a ROS 2 Action Server (PickAndDeliver.action).
• Turtle moves to a pickup coordinate, “picks up” the package, then delivers it.
• Publishes dummy confirmation messages.
• Key Concepts:
  • ROS 2 Action Server/Client
  • Action feedback and result handling
  • Dummy “delivery complete” log

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3. Equipment Servicing Node (equipment_servicing_node.py)

• Simulates maintenance on a “lander”.
• Performs dummy steps:
  1. Move to lander position
  2. “Inspect” components
  3. “Tighten bolts” or “check connections”
• Publishes and logs service status updates.
• Key Concepts:
  • Timer-based task sequence
  • Publisher for simulated maintenance status
  • Service to trigger or stop maintenance

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4. Autonomous Navigation Node (autonomous_nav_node.py)

• Navigates through 4 waypoints:
  • 2 GNSS coordinates
  • 2 vision targets (hardcoded colors or IDs)
• Prints LED status:
  • 🔴 Red = Autonomous mode
  • 🔵 Blue = Manual mode
  • 🟢 Green = Target reached
• Key Concepts:
  • Publisher to control turtle
  • Waypoint list and navigation loop
  • Print-based LED simulation

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5. Mission Manager Node (mission_manager.py)

• Central controller for all missions.
• Parameter: mission_mode (science, delivery, equipment, nav)
• Dynamically activates one mission at a time using parameter callbacks.
• Key Concepts:
  • Dynamic parameter callback
  • Conditional logic for mission switching
  • Lifecycle-like state management

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⚙️ Launch Process

Launch File: mission_system.launch.py

ros2 launch rover_missions mission_system.launch.py mission_mode:=science
Dynamically switch mission mode without relaunching:
bash
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ros2 param set /mission_manager mission_mode delivery
ros2 param set /mission_manager mission_mode equipment
ros2 param set /mission_manager mission_mode nav
🏃 How to Run
Build the workspace

bash
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colcon build
source install/setup.bash
Run Turtlesim

bash
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ros2 run turtlesim turtlesim_node
Run Mission System

bash
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ros2 launch rover_missions mission_system.launch.py mission_mode:=science
Switch missions dynamically

bash
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ros2 param set /mission_manager mission_mode delivery
ros2 param set /mission_manager mission_mode equipment
ros2 param set /mission_manager mission_mode nav
Observe terminal outputs

Science: Logs GNSS + image

Delivery: Prints action progress

Equipment: Publishes maintenance status

Navigation: Prints LED status and waypoints reached

📁 Folder Structure
arduino
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rover_missions/
├── launch/
│   └── mission_system.launch.py
├── rover_missions/
│   ├── mission_manager.py
│   ├── science_node.py
│   ├── delivery_node.py
│   ├── equipment_servicing_node.py
│   ├── autonomous_nav_node.py
│   ├── action/
│   │   └── PickAndDeliver.action
├── package.xml
└── setup.py


📊 Example Outputs
Science Mission:

yaml
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Image saved: site_1.jpg
GNSS log: (23.81, 90.41)
Delivery Mission:

vbnet
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Action: Moving to pickup...
Action: Delivering...
Result: Delivery complete!
Equipment Servicing:

nginx
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Inspecting lander... Done
Tightening bolts... Done
Maintenance complete.
Autonomous Navigation:

makefile
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LED: 🔴 Autonomous mode
Waypoint 2 reached -> 🟢
Author
Mahadi Hassan