Brief

This process is responsible for updating the belief memory with values obtained from several perception topics.

Subscribed topics

• estimated_pose (geometry_msgs/PoseStamped)
  Estimated current pose of the drone.

• battery (sensor_msgs/BatteryState)
  Current battery percentage.

• message_from_robot (aerostack_msgs/SocialCommunicationStatement)
  Receive messages from other robots.

• shared_robot_positions_channel (aerostack_msgs/SocialCommunicationStatement)
  Receive positions of other robots.

Service clients

• add_client(aerostack_msgs/AddBelief)
  Add predicates to belief memory.

• remove_client(aerostack_msgs/RemoveBelief)
  Remove predicates to belief memory.

• query_client(aerostack_msgs/QueryBelief)
  Query to the memory of beliefs

• generate_id_client(droneMsgsROS/GenerateID)
  Generate new id.

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