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design/turtlebot-adapter.md
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## Necessities
* OpenTCS works based on actions, these actions define which operations the robot is able to process. If you want to use the Turtlebot adapter you have to add the actions of your robot to the `processMesage` method in `server.cpp`. Here you will find the key called `json["operations"]`. Add your actions using: `json["operations"].append("YOUR OPERATION");`
* If you want to use the Turtlebot or another ROS robot, you have to add a map of the environment to the navigation stack. More information about how to do that can be found [here](https://git.fhict.nl/I312980/move-it/wikis/installation/turtlebot3).
* If you want to use the Turtlebot or another ROS robot, you have to add a map of the environment to the navigation stack. More information about how to do that can be found [here](https://git.mphslaats.com/fontys/move-it/wikis/installation/turtlebot3).
* If you add a new class file you have to add it to `CMakeLists.txt`.
* If you want to use more ROS Topics you have to add them to `package.xml`.
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* Due to a limit time frame we were not able to parse the ROS state with the OpenTCS state, therefore we only send `executing` or `error` to OpenTCS. We do return the state from the `setGoal` method. So you only need to create a parser in either the Turtlebot adapter or in the communication adapter.
* The `setGoal` method is blocking, because we did not have the time nor knowledge to implement threads in C++.
[home](https://git.fhict.nl/I312980/move-it/wikis/home)
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[home](https://git.mphslaats.com/fontys/move-it/wikis/home)
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