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Thanks a lot Trinighost. I read it carefully and it is really interesting. My question is more related to the programming model that I should adopt. In this case I con't have to follow a procedural method or a linear way following a specific flow. In this case I am to create a net of nodes that interact each other performing the desidered behaviour with an event-driven architecture.

Obviously I can insert all the main logic of the robot inside the a single node (maybe not the best architecture) and using the other nodes as triggers for this master node. This solution is clearly raw.

Finally, here I adopt an event-driven approach with nodes that interact each other creating a graph.

Thanks.