The ROS/IOP-Bridge consists of a lot of independent components. This components represent in case one the IOP components: By fkie_iop_component it is now possible to configure the set of the services included into one component. All services of the ROS/IOP Bridge are implemented as a plugin. You can configure to use all services in one component or in a lot of independent components.
For the IOP-OCU it looks like IOP components, but in the background they use the ROS data. In the second case the ROS/IOP-Bridge components are used on the OCU side to process the JAUS data and make it available for ROS-GUI, like rqt:
As an example we look at the PrimitiveDriver service plugin. This component is located in iop_mobility and implemnents the translation of SetWrenchEffort and ReportWrenchEffort to ROS messages:
To reduce the implementation effort of included JAUS services like AccessControl, Discovery and other we implemented these as libraries wich are included by the component. Look at package.xml and CMakeLists.txt of fkie_iop_primitive_driver package to see how they can be included.
The ROS/IOP-Bridge components on the OCU side consume the JAUS data, e.g. of the PrimitiveDriver. This components are located in packages beginning with iop_client_ prefix and include the client services for AccessControl, Discovery and other. Additionally, we created fkie_iop_ocu_slavelib and fkie_iop_rqt_access_control packages to control the independent client components simultaneously. This is useful to release or get access for a whole robot for example.
