The above :ref:`High Level Design <High Level Design>` diagram shows in communication between the motion controller components. This interaction is left to be implemented in a ROS 2 node. Our use cases utilize a state machine. The ROS 2 node will initialize the ROS 2 framework, initialize the intended plugins and delegate the use case handling to the state machine:
1. The state machine will instantiate a reference to a plugin of interface "GraspInterface" and one of interface "MotionController" according to the specified configuration as in :ref:`Example Configuration<example_configuration>`
2. The Grasp Plugin will subscribe to the :ref:`RVC API messages<rvc_api_messages>` RotatedBBList and compute the target pose for the robot.
3. According to the state of the state machine, this is used to ask the instance of the :ref:`MotionController plugin<motion_controller_plugin>` to go the target and/or achieve different tasks.
- :doc:`Example Configuration <rvc_control/parameters>`
- :doc:`Motion Controller Plugin <rvc_control/motion_controller_plugin>`
- :doc:`Grasp Plugin <rvc_control/grasp_plugin>`
.. toctree:: :maxdepth: 1 :hidden: rvc_control/parameters rvc_control/motion_controller_plugin rvc_control/grasp_plugin