So I’m just getting started with ROS2 and have a question on process workflow. Let’s say I have a system that has a robot, inspection, and linear actuators. I understand that I would have a node for each of these devices, but what is your main entry point that works through the entirety of your process i.e. robot move here then inspection begin then actuator move etc.
Does the main workflow get hosted in a node or a launch file?
Business logic shouldn’t (and probably can’t) live in a launch file. I think a lot of people would use a Behavior Tree for the kind of logic you describe, but it could also just be a small python program, a state machine, a task-planner or similar. High-level agent control has a long history of AI research so there are really a lot of options. But the upshot is the same: some program that (hopefully) follows some declarative logic.