INTRODUCTION TO ROS
			      Buse Sibel Korkmaz 

1)Action manager module

	Action manager module manages the whole process together. Most of the project is directed by main node in node.cpp. Firstly, all class types are defined in object_info.hpp and they are included to node.cpp. 
	
There are 4 class types:
A) ObjectInfo: It is a pre-defined class in order to get and set knowledge about chess pieces.
B) Cell: It is defined later, in order to get and set cell code of the chess board.
C)Checkmate: It is definded later, in order to get and set checkmate situations of the teams.
D)Castle: It is defined later, in order to get and set whether castle operation is allowed or 	not.

A)Service ShareID: ShareID takes object Aruco ID and position as a cell code from client. If client request by id, it reponses as object kautham ID, position in type of geometry_msgs/Pose, cell code, if the piece is given with Aruco ID is found bool found will be true. If the client request with cell code, shareID responses as object Aruco ID and if the given cell code does not contain object bool free will be true.

B)Service getobstaclepos: getobstaclepos takes object kautham ID from client. It responses as the position of the object in type of geometry_msgs/Pose and if the object is found in objects vector bool found will be true.

C)Service checkrule: checkrule takes the Aruco ID of the piece will be moved, goal position and initial position. It checks the movement whether is allowed by chess rules or not. If is not allowed it responses as bool check is set false.

D)Service checkmate: checkmate takes the id of the piece will be moved and decide its team. Also finds x and y position of king of the team. Then, this service checks the checkmate situation by the help of diagonal_check, vertical_check and horizontal_check functions. Those three functions get the position of the king and the team, they move in the mymap (chess board) diagonally, vertically and horizontally and they check is there any piece can be thread for the king. If it is they return true. If non of those three function return true, checkmate service responses as bool mate is false. Also, changes variable of cm which is created in type of Checkmate.

E)Service checkcastle: checkcastle take the id of the king which is desired to do castle operation and decides its team. After deciding, it checks the necessary cells according to checkmate thread by the help of diagonal_check, vertical_check and horizal_check functions. If the check complete without return true, castle operation is allowed. It responses as bool check true. Other conditions such as tower had not moved ant the position of king is checked inside of the planmotions with Castle type castleoperation obejct with if-else structure.

2)Planning module

0.Learn the position of the piece
1.Move the piece
2.Move and kill
3. Castle operation

0. Take Aruco ID of the piece and return cell code by shareID_srv.
1.Take Aruco ID of the piece and the goal position. Find cell code of the piece and check the goal position whether is free or not, and check the movement is allowed by chess rules. If all conditions are satisfied, then give positions and id to planmovement service. Perform the movement.
2.Take Aruco ID of the both piece and find their position also check the movement is allowed by chess rule such as choice 2. If all conditions are satisfied give ID and positions to planmovement service. Perform the kill action.
3. Take the team name. Check the castle is allowed or not by checkcastle service and the necessary positions. If it is allowed perform the castle operation. Give ids and positions to planmovement service.