Subsystems

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:
  • Executive
  • System Monitor
  • Access Control
  • Image Sampler
  • Image Sampler
  • Data Bagger
  • ResourceMonitors
    • CPU Monitor
    • Disk Monitor
  • Log Monitor

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
    • qp
    • trapezoidal
  • sentinel
  • mapper
  • perching
  • docking

GN&C

• Guidance, Navigation & Control
• directory: gnc
• topic prefix: gnc
• include:
  • Control

Behaviors

• Behaviors
• directory: behaviors
• topic prefix: beh
• include:
  • Arm Behavior
  • Dock Behavior
  • Perch behavior
  • States
  • Signal behavior

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)

• 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 ?