This is the main package which invoke all the tasks according to the arena. This node automates all the tasks.
- Wait for all the task handler servers to start.
- The procedure is followed until success or failure.
- Send a goal to the task line to find and follow the line.
- After finding line, it sends a goal to task buoy to hit the desired buoy.
- It again search for line to follow, and hence sends another goal to task line.
- Kill if line not found.
- Sends a goal to task gate to pass the gate.