Even though the original implementation is ROS 1 code, the structure is relevant to people working on:
- mission analysis
- collaborative robotics
- systems engineering
- MBSE
- ConOps definition
That is because the repository encodes more than executable scripts. It encodes a mission architecture.
The IGLUNA scenario models at least three interacting layers:
- mission intent: what the team wants to achieve
- system capabilities: what each asset can do, sense, or communicate
- execution logic: how primitive actions are sequenced and supervised
In MBSE language, the HDDL domain acts like a behavioral capability model, while the SMACH executive acts like an operational realization of those behaviors.
A simplified concept of operations represented by this repository is:
- define objectives and platform capabilities
- derive traversable waypoints from the environment model
- generate a hierarchical task plan
- execute the plan through navigation and sensing actions
- communicate mission products and health data
- adapt to degraded resources when required
That is a very useful teaching artifact, because it ties planning theory to an operational mission thread.
If the repository is made public, a good way to position it is:
- as a research reference implementation for hierarchical mission planning
- as an example of bridging symbolic planning with ROS execution
- as a starting point for collaborative mission architecture studies
- as a useful artifact for students exploring ConOps-to-execution traceability
The cleanup in this refactor prepares the repository for three realistic follow-on steps:
- formalize the HDDL assets with examples and validation scripts
- port the legacy ROS executors into a modern package structure
- connect the mission concepts to diagrams, state charts, and MBSE views
That combination would make the repository strong both as software and as a systems-engineering artifact.