other_packages.md

Main Repository of ROS/IOP Bridge

Core pakages of the ROS/IOP-Bridge needed to build the bridge. For interface description of core packages see here. The interface description of other services is located in corresponding repository.

git clone https://github.com/fkie/iop_core

Repositories with packages implementing the SEA JAUS Services

• core: urn.jaus.jss.core - services

  • fkie_iop_accesscontrol
  • fkie_iop_discovery
  • fkie_iop_events
  • fkie_iop_list_manager
  • fkie_iop_liveness
  • fkie_iop_management
  • fkie_iop_transport

• manipulator: urn.jaus.jss.manipulator-v2.0 - services

  • git clone https://github.com/fkie/iop_jaus_manipulator
  • fkie_iop_manipulator_joint_position_sensor
  • fkie_iop_manipulator_specification_service
  • fkie_iop_pantilt_joint_position_driver
  • fkie_iop_pantilt_specification_service
  • fkie_iop_primitive_endeffector
  • fkie_iop_primitive_manipulator
  • fkie_iop_primitive_pantilt

• mobility: urn.jaus.jss.mobility - services

  • git clone https://github.com/fkie/iop_jaus_mobility
  • fkie_iop_global_pose_sensor
  • fkie_iop_global_waypoint_driver
  • fkie_iop_global_waypoint_list_driver
  • fkie_iop_local_pose_sensor
  • fkie_iop_local_waypoint_driver
  • fkie_iop_local_waypoint_list_driver
  • fkie_iop_primitive_driver
  • fkie_iop_velocity_state_sensor

• sensing: urn.jaus.jss.environmentSensing - services

  • git clone https://github.com/fkie/iop_jaus_sensing
  • fkie_iop_digital_video
  • fkie_iop_range_sensor
  • fkie_iop_still_image
  • fkie_iop_visual_sensor

• ugv: urn.jaus.jss.ugv - services

  • git clone https://github.com/fkie/iop_jaus_ugv
  • fkie_iop_illumination
  • fkie_iop_power_plant
  • fkie_iop_stabilizer_driver

Repositories with packages implementing the clients for SEA JAUS Services

The clients are used on the OCU side to control an IOP compliant robot.

• manipulator_clients: clients for urn.jaus.jss.manipulator-v2.0 - services

  • git clone https://github.com/fkie/iop_jaus_manipulator_clients
  • fkie_iop_client_manipulator_joint_position_sensor
  • fkie_iop_client_manipulator_specification
  • fkie_iop_client_pantilt_joint_position_driver
  • fkie_iop_client_pantilt_specification_service
  • fkie_iop_client_primitive_endeffector
  • fkie_iop_client_primitive_manipulator
  • fkie_iop_client_primitive_pantilt

• mobility_clients: clients for urn.jaus.jss.mobility - services

  • git clone https://github.com/fkie/iop_jaus_mobility_clients
  • fkie_iop_client_global_pose_sensor
  • fkie_iop_client_global_waypoint_driver
  • fkie_iop_client_global_waypoint_list_driver
  • fkie_iop_client_local_pose_sensor
  • fkie_iop_client_local_waypoint_driver
  • fkie_iop_client_local_waypoint_list_driver
  • fkie_iop_client_primitive_driver
  • fkie_iop_client_velocity_state_sensor

• sensing_clients: clients for urn.jaus.jss.environmentSensing - services

  • git clone https://github.com/fkie/iop_jaus_sensing_clients
  • fkie_iop_client_digital_video
  • fkie_iop_client_range_sensor
  • fkie_iop_client_still_image
  • fkie_iop_client_visual_sensor

• ugv: clients for urn.jaus.jss.ugv - services

  • git clone https://github.com/fkie/iop_jaus_ugv_clients
  • fkie_iop_client_illumination
  • fkie_iop_client_power_plant
  • fkie_iop_client_stabilizer_driver

IOP services

• iop_platform: the platform services including all services to create a platform

  • git clone https://github.com/fkie/iop_platform
  • fkie_iop_client_digital_resource
  • fkie_iop_digital_resource_discovery
  • fkie_iop_handoff
  • fkie_iop_health_monitor
  • fkie_iop_platform_manager
  • fkie_iop_platform_mode
  • fkie_iop_platform_state
  • fkie_iop_unsolicited_heartbeat

• iop_sensing: sensor services

  • git clone https://github.com/fkie/iop_sensing
  • fkie_iop_costmap2d
  • fkie_iop_measurement_sensor
  • fkie_iop_path_reporter

• iop_sensing_clients: clients for sensor services

  • git clone https://github.com/fkie/iop_sensing_clients
  • fkie_iop_client_costmap2d
  • fkie_iop_client_measurement_sensor
  • fkie_iop_client_path_reporter

ROS Messages

For some functionallity we defined ROS messages.

git clone https://github.com/fkie/iop_msgs

ROS GUI for IOP services

Basically we can use the available ROS GUIs. But some GUI components are very special, e.g. visualisation of the IOP components. In gui location are some GUI components using ROS rqt.

• git clone https://github.com/fkie/iop_gui
• fkie_iop_rqt_access_control
• fkie_iop_rqt_digital_resource_viewer

Configuration Examples

• iop_examples: Example with state simulator
  • git clone https://github.com/fkie/iop_examples
  • iop_cfg_sim_stage
  • iop_cfg_sim_turtle