AcutronicRobotics / HRIM

An information model for robot hardware. Facilitates interoperability across modules from different robot manufacturers. Built around ROS 2.0
https://acutronicrobotics.com/technology/hrim/
Apache License 2.0
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communication hal4rt information-model infrastructure manufacturer model opc-ua robotic-modules robotics robots ros ros2 standard

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Hardware Robot Information Model (HRIM)

The Hardware Robot Information Model or HRIM for short, is a common interface that facilitates interoperability among different vendors of robot hardware components with the purpose of building modular robots. HRIM focuses on the standardization of the logical interfaces between robot modules, designing a set of rules that each device has to meet in order to achieve interoperability.

Real world implementations requires taking into account the common hardware modules used in robotics. The robot modules have been classified in 7 types of devices: sensor, actuator, cognition, communication, power, ui and composite. Each type is composed by sub-types or devices related to the functionality of the module. For example, a camera is a sub-type of the sensor type and represented with the following structure:

generated/
...
├── sensor
│   ├── camera
│   │   ├── hrim_sensor_camera_msgs
│   │   │   ├── CMakeLists.txt
│   │   │   ├── msg
│   │   │   │   ├── Audio.msg
│   │   │   │   ├── CameraInfo.msg
│   │   │   │   ├── CompressedImage.msg
│   │   │   │   ├── Image.msg
│   │   │   │   ├── PTZ.msg
│   │   │   │   └── Reconfiguration.msg
│   │   │   └── package.xml
│   │   ├── hrim_sensor_camera_srvs
│   │   │   ├── CMakeLists.txt
│   │   │   ├── package.xml
│   │   │   └── srv
│   │   │       ├── SetCameraInfo.srv
│   │   │       └── SpecsCamera.srv
│   │   ├── mandatory_parameters.yaml
│   │   └── optional_parameters.yaml
...

A preliminary whitepaper about this work is available at https://arxiv.org/abs/1802.01459. Please use the following BibTex entry to cite our work:

@article{hrim,
  title={An information model for modular robots: the Hardware Robot Information Model (HRIM)},
  author={Zamalloa, Irati and Muguruza, Iñigo and Hernández, Alejandro and Kojcev, Risto and Mayoral, Víctor},
  journal={arXiv preprint arXiv:1802.01459},
  year={2018}
}

Installation

Through pip:

pip3 install hrim

Local install through pip:

# while positioned at the repository's root
pip3 install -e installator

Manually running the installator:

# while positioned at the repository's root
cd installator
sudo python3 setup.py install

Script usage

Commands should be executed from the repository's root

The command structure would be the following:

hrim [-h] [-p {ros2}] {generate,compose,compile,list,clear} filePath [filePath ...]

Where:

-h/--help shows script's help.

-p/--platform should be followed by which platform (e.g. ROS 2) to generate the implementation in. Current valid values are:

{generate,compose,compile,list,clear} is mandatory and signifies the action to take:

For further information on the model composition process, refer to our documentation.

Examples

While positioned at the repository's root all of the following are valid command executions:


<img src="http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png" alt="rosin_logo" height="60" >

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

<img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg" alt="eu_flag" height="45" align="left" >

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.