Robot spawn class has to provide additional interface for robot deletion and robot replacement. Maybe we should rename the class since it will no longer provide only robot spawn interface.

Robot should provide public interface so it can be moved to a new position upon a request from server. Additionally server has to implement this request based on a prior request from gui or command line. At the current implementation, robot initializes at initial pose and can be moved only by motionController, through cmd_vel topic.

• Robot
• Laser
• Sonar

Yaml 2 RobotMsg and
RobotMsg 2 Yaml

Doh

• Rfid tags
• Thermal sources
• CO2 sources

cmd_vel subscriber and calculateMotion() function should be one level up and implemented on base motion controller class. Same goes for the Timer used for motion calculations.

Maybe we need to change stdr namespace used in gui to stdr_gui. We should use stdr namespace for classes that are visible to other packages, like common structs and classes. In that manner I suggest stdr_server to be under stdr_server namespace and so on for stdr_gui. It would be helpful when you include a class from another package to know where it came from.