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--- documentation:heron_workspace_architecture [2022-03-23 12:07] – Johan Oxenstierna
+++ documentation:heron_workspace_architecture [2022-09-02 16:04] (current) – external edit 127.0.0.1
@@ Line 11: / Line 11: @@
   - 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''.
-Below is just taken heron_robot readme and will be modified
-./src/skills/vision_skills/.git
-./src/skills/skills_sandbox/.git
-./src/skiros2_examples/.git
-./src/start/heron_launch/.git
-./src/robots/MIR_robot/.git
-./src/robots/ur_driver/.git
-./src/robots/heron_robot/.git
-./src/robots/universal_robot/.git
-./src/libs/heron_workspace_setup/.git
-./src/libs/cartesian_controllers/.git
-./src/libs/vision/.git
-./src/libs/cartesian_trajectory_generator/.git
-./src/libs/wsg50-ros-pkg/.git
-./src/libs/realsense/.git
-./src/libs/gazebo_models_psa/.git
-./src/libs/skiros2/skiros2_std_lib/.git
-./src/libs/skiros2/skiros2_moveit_lib/.git
-./src/libs/skiros2/skiros2/.git
-./src/libs/ddynamic_reconfigure/.git
+  Schema of repositories under catkin_ws/src
-    ├── heron_control              Startup and config for controllers and hardware
+  src
-    │   ├── config                  Control values and joint names
+    |
-    │   ├── launch                  Launch files included by heron_robot
+    ├── skills
-    │   ├── src
+    │   ├── vision_skills  SkiROS software for vision algorithms
+    │   ├── skills_sandbox  Locally developed SkiROS skills can be tested here
     │
-    ├── heron_description    Experiments involving robot arm.
+    ├── start
-    │   ├── config
+    │   ├── heron_launch  Default Location for launching Heron in simulation or real life
-    │   ├── launch
-    │   ├── robots
-    │   ├── urdf
-    │
-    ├── heron_gazebo    Experiments with launching mir and ur5e.
-    │   ├── config
-    │   ├── include
-    │   ├── launch
-    │   ├── scripts
-    │   ├── sdf
-    │   ├── src
-    │   ├── worlds     Maps for E building
     │
-    ├── heron_moveit     Experiments with launching the moveit motion planning/manipulation framework.
+    ├── robots
-    │   ├── config
+    │   ├── MIR_robot  The bottom part of the Heron robot (the one which moves the wheels of the robot)
-    │   ├── launch
+    │   ├── ur_driver  Universal Robotics driver (Driver for Herons robot arm)
+    │   ├── heron_robot  Running Heron robot with ROS
+    │   ├── universal_robot  Heron robot arm
     │
-    ├── heron_robot    This is the main package and shows how many relevant Heron components can be set up to run with ROS.
+    ├── libs
-    │   ├── config
+    │   ├── heron_workspace_setup  The installation repo
-    │   ├── launch  Includes example launches with arm, Mir, whole robot or just Rviz.
+    │   ├── cartesian_controllers  These controllers in theory resolve the inverse kinematics problem for 3D robot arm movement
-    │   ├── maps
+    │   ├── vision  Concerns the camera attached to Herons robot arm. Includes functionality for pose estimation. Lacks readme
-    │   ├── nodes
+    │   ├── cartesian_trajectory_generator  Can generate a simple trajectory in Cartesian space
-    │   ├── res
+    │   ├── wsg50-ros-pkg  Software for gripper from https://weiss-robotics.com/company/
-    │   ├── scripts
+    │   ├── realsense  Software for using Intel RealSense cameras
-    │   ├── src    Contains an example of how to send a goal using the /move_base/ topic.
+    │   ├── 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
+    |