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rursprung / fhgr-mrproj2

A ROS 1 based tank with a LIDAR.
GNU General Public License v3.0
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add architecture diagram #4

Closed rursprung closed 1 year ago

rursprung commented 1 year ago

this adds a rough diagram showing the (software) architecture.

we'll most likely use a bunch of pre-existing ROS nodes like diff_drive_controller or rplidar which i haven't added yet to the diagram (for a list of nodes which might be useful to us check out what the SMB example from ETH is using as dependencies in their smb_control/package.xml).

the state diagram will also depend on the outcome of the discussion in PR #1.

this diagram is written using the mermaid syntax which can be rendered by GitHub as well as various IDEs through plugins (e.g. the JetBrains Mermaid plugin which i'm using in CLion).

rursprung commented 1 year ago

note: you can just switch to the rendered version of the file to see the actual diagram when reviewing it, see the GitHub docs on rendering differences in prose documents.

rursprung commented 1 year ago

note: the diagram shows the setup on the actual hardware, but we'll probably (?) also want to have a similar setup with gazebo (i.e. we simulate the hardware) so that we can more easily develop against it. the SMB setup from ETH shows a bit how this can be done. for that we'll also need a (basic) model of our robot for gazebo (see the tutorial) and an alternative implementation of the movement controller which will instead go against gazebo rather than the real hardware.