====== Heron_workspace architecture ======


This page gives an overview of the repositories in heron_workspace. It also provides links to other pages with relevant information. 

The  [[https://git.cs.lth.se/robotlab/heron/heron_workspace_setup|heron_workspace_setup]] is a repository that provides documentation and some basic set ups for cloning and installing heron_workspace, including SkiROS and other necessary dependencies. Once heron_workspace is installed there should be 18 repositories somewhere under the root folder. If the root folder is called "catkin_ws", the following paths are for some of the more important repos to be aware of:
  * ''catkin_ws/src/libs/heron_workspace_setup'': This is where the heron_workspace setup repository and its README.md ends up after installation. 
  * ''catkin_ws/src/robots/heron_robot'': This repository provides instructions for running the Heron robot with ROS either in simulation (using Rviz and Gazebo) or in real life (robot lab). 
  * ''catkin_ws/src/start/heron_launch'': This repository provides instructions for running the Heron robot with SkiROS.
Other good links
  - The skiros2 wiki: https://github.com/RVMI/skiros2/wiki
  - Skiros2 examples: https://github.com/RVMI/skiros2_examples  (these are also explained in terms of how and where to clone them in ''catkin_ws/src/libs/heron_workspace_setup/README.md''. 


  Schema of repositories under catkin_ws/src
  
  src
    |
    ├── skills              
    │   ├── vision_skills  SkiROS software for vision algorithms          
    │   ├── skills_sandbox  Locally developed SkiROS skills can be tested here
    │
    ├── start    
    │   ├── heron_launch  Default Location for launching Heron in simulation or real life
    │
    ├── robots
    │   ├── MIR_robot  The bottom part of the Heron robot (the one which moves the wheels of the robot)
    │   ├── ur_driver  Universal Robotics driver (Driver for Herons robot arm)   
    │   ├── heron_robot  Running Heron robot with ROS
    │   ├── universal_robot  Heron robot arm
    │
    ├── libs     
    │   ├── heron_workspace_setup  The installation repo
    │   ├── cartesian_controllers  These controllers in theory resolve the inverse kinematics problem for 3D robot arm movement
    │   ├── vision  Concerns the camera attached to Herons robot arm. Includes functionality for pose estimation. Lacks readme
    │   ├── cartesian_trajectory_generator  Can generate a simple trajectory in Cartesian space
    │   ├── wsg50-ros-pkg  Software for gripper from https://weiss-robotics.com/company/ 
    │   ├── realsense  Software for using Intel RealSense cameras
    │   ├── gazebo_models_psa  Gazebo is the physics simulator and this repo provides models for that simulator
    │   ├── skiros2
    │       ├── skiros2_std_lib   
    │       ├── skiros2_moveit_lib  Robot arm functionalities
    │       ├── .git   The clone of skiros2  
    │
    │   ├── ddynamic_reconfigure  Gives capability to update node parameters dynamically http://wiki.ros.org/dynamic_reconfigure
    |