Interpreter IMPL.md

Interpreter implementation

main.py

• Runs interpreter.
• Call publisher.
• Call parser.
• Call statics.
• Call dynamics.

publisher.py

• Initializes node.
• Initializes topics (goal and status).
• Publishes on the topics.

lexer.py

• Tokenizes the IG input.

parser.py

• parses the tokens input vertex and edges.

statics.py

• Performs static checks on the graph created.

dynamics.py

• executes the graph
• calls actions.

turtlebot_move_base_action.py

• Moves the bot forward using move_base
• Turns the bot using cmd_vel

turtlebot_action.py

• Moves the bot forward using cmd_vel
• Turns the bot using cmd_vel