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RI-SE / ATOS

ROS2 based platform for coordinating tests of automated vehicles and their surrounding systems.
Mozilla Public License 2.0
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added architecture diagram #594

Closed victorjarlow closed 11 months ago

victorjarlow commented 11 months ago

Draft at a architecture diagram for use when communicating features and functions in the ATOS ecosystem

victorjarlow commented 11 months ago

@RI-SE/night-team please provide some feedback on the figure. Is it clear enough? is it well structured? Is info missing? What improvements are needed?

samuelthoren commented 11 months ago

Looks good! I just have some minor questions or clarifications.

Otherwise it looks really good, nice overview of ATOS!

victorjarlow commented 11 months ago

Looks good! I just have some minor questions or clarifications.

  • Should there be more text in the EsminiAdapter box? It looks like the text suddenly ends.

Added!

  • I might be mistaken here, but do the external systems use JournalControl?

In my mind, the filesystem is an external system that gets test reports provided to it. I didn't want to explicitly list all data-sinks, but instead keep it "high-level"

  • PointcloudPublisher publishes once on init, not periodically.

Thanks for the clarification!

  • Maybe you can specify what type of data is sent using the MQTT-bridge

To avoid having to change this diagram constantly, I think it's better to keep it high-level.

  • Specify what resetting test actors means in BackToStart.

Done

  • The isoObject-box is quite empty, maybe we can write some things there?

Added some text

  • The letter D in the legend, specify what type of dynamic input.

I'm not sure how I could describe the dynamic data in such a way that it fits all three modules (esminiAdapter - triggers and actions, DirectControl - steering signals, TrajectoryletStreamer - trajectory chunks). I don't want to introduce too much detail in this diagram such that we have to modify it constantly. Also, I think that a user could go to our docs page for a specific module if they want to know in more detail.

Robert108 commented 11 months ago

Nice to have a diagram like this! I would put the image in the res folder in the docs folder and link it from there. I think it could be nice to write just a few words also on how you should go about updating this diagram if you need to.

samuelthoren commented 11 months ago

Can I merge this @victorjarlow?

victorjarlow commented 11 months ago

Can I merge this @victorjarlow?

I've not moved the document as Robert suggested yet..