Freeflyer Subsystems organization and topic name hierarchy
Definition of topic names are maintained in shared:
shared/ff_util/ff_names.h
Management
- Management
- directory:
managment
- topic prefix:
mgt
- include:
Localization
- Localization
- directory:
localization
- topic prefix:
loc
- Everything necessary for localization
- include:
- Sparse Mapping Features
- AR Tags
- Handrail detect
- Optical Flow
- Localization Manager
Mobility
- Mobility
- directory:
mobility
- topic prefix:
mob
- include:
- choreographer
- planner
- sentinel
- mapper
- perching
- docking
GN&C
Behaviors
- Behaviors
- directory:
behaviors
- topic prefix:
beh
- include:
Communication
- Communications
- directory:
communications
- topic prefix:
comm
- This is not a subsystem like the others... Does the bridge still get a prefix and publish all "FF-ROS-Commands" under it? [ted]
- include:
- Bridge
- Msg / Srv / Action
Description (URDF Robot Description)
Drivers (hardware)
- Hardware
- directory:
hardware
- topic prefix:
hw
- include all the LLP/MLP/HLP hardware "drivers"
- topic naming:
- hw/camera_dock
- hw/camera_nav
- hw/camera_sci
- hw/depth_perch
- hw/depth_haz
- hw/imu
- hw/pmc
- hw/laser
- hw/light_front
- hw/light_aft
- hw/arm
- hw/eps
- hw/signals ?