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--- documentation:heron_workspace_architecture [2022-03-22 12:39] – Volker Krueger
+++ documentation:heron_workspace_architecture [2022-09-02 16:04] (current) – external edit 127.0.0.1
@@ Line 9: / Line 9: @@
   * ''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
+  - 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''.
+  - 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
+    |
-add links to skiros wiki, repository, skiros_examples