Commit 1b102113 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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Add License file, add simplified architecture diagram.

parent 94344207
2-Clause BSD License
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// Copyright 2020 CNRS Airbus SAS
// Author: Florent Lamiraux
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following
// disclaimer in the documentation and/or other materials provided
// with the distribution.
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
// INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
// STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
// OF THE POSSIBILITY OF SUCH DAMAGE.
/// \page agimus_doc_page_Diagrams Diagrams
///
/// \section agimus_doc_sec_launch_files Launch files
///
/// \dotfile talos-manipulate-boxes-geometric-simu.launch.dot "Example of ROS architecture for a humanoid robot manipulating a box on a table. Blue and red boxes represent ROS nodes grouped by packages. Grey boxes represent launch files." width=100%
///
/// \section agimus_doc_sec_topics_and_nodes Topics and nodes
///
/// \image html talos-manipulate-boxes-geometric-simu-rosgraph.svg "Example of ROS architecture for a humanoid robot manipulating a box on a table. Ellipses represent ROS nodes, rectangles represent topics." width=100%
///
/// \image html event-flow.png "Simplified view of the event flow." width=100%
///
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///
/// Node name | package | type | description
/// --------- | ------- | ---- | -----------
/// hpp_node | <a href="@AGIMUS_HPP_DOXYGENDOCDIR@/index.html">agimus_hpp</a> | hpp_node.py | Client to HPP manipulation planner. Note that \c hppcorbaserver executable must be running and accessible via CORBA channel. This node reads from \c hppcorbaserver. Manipulation planning requests should be launched by the user.
/// start_supervisor | <a href="@AGIMUS_SOT_DOXYGENDOCDIR@/index.html">agimus_sot</a> | start_supervisor.py | Runs a script in the remote python interpreter of the Stack Of Tasks (service \c RunCommand). The name of the script is given as a parameter.
/// path_execution_fsm | <a href="@AGIMUS_PREFIX@/share/doc/agimus/doxygen-html/index.html"> agimus </a> | path_execution_fsm.py | Creates a finite-state machine implemented using smach (see ROS wiki for displaying the fsm).
/// path_execution_supervision | <a href="@AGIMUS_PREFIX@/share/doc/agimus/doxygen-html/index.html"> agimus </a> | rqt_path_execution | GUI that enables the user to control the above finite-state machine in order to follow the planned trajectory as desired (step by step, one shot,...)
/// /agimus/hpp/hpp_node | <a href="@AGIMUS_HPP_DOXYGENDOCDIR@/index.html">agimus_hpp</a> | <a href=@AGIMUS_HPP_PKGDATAROOTDIR@/agimus_hpp/scripts/hpp_node.py>hpp_node.py</a> | Client to HPP manipulation planner. Note that \c hppcorbaserver executable must be running and accessible via CORBA channel. This node reads from \c hppcorbaserver. Manipulation planning requests should be launched by the user.
/// /agimus/hpp/hpp_estimation | <a href="@AGIMUS_HPP_DOXYGENDOCDIR@/index.html">agimus_hpp</a> | estimation.py | Estimates the geometric state of the system based on known constraints: such object should be on such table... (see class agimus_hpp.estimation.Estimation).
/// /agimus/sot/start_supervisor | <a href="@AGIMUS_SOT_DOXYGENDOCDIR@/index.html">agimus_sot</a> | <a href=@AGIMUS_SOT_PKGDATAROOTDIR@/agimus_sot/scripts/start_supervisor.py>start_supervisor.py</a> | Runs a script in the remote python interpreter of the Stack Of Tasks (service \c RunCommand). The name of the script is given as a parameter (see <a href=@CMAKE_INSTALL_PREFIX@/share/agimus_demos/talos/manipulate_boxes/supervisor.py>default script</a>).
/// /agimus/path_execution_fsm | <a href="@AGIMUS_PREFIX@/share/doc/agimus/doxygen-html/index.html"> agimus </a> | path_execution_fsm.py | Creates a finite-state machine implemented using smach (see ROS wiki for displaying the fsm).
/// /agimus/path_execution_supervision | <a href="@AGIMUS_PREFIX@/share/doc/agimus/doxygen-html/index.html"> agimus </a> | rqt_path_execution | GUI that enables the user to control the above finite-state machine in order to follow the planned trajectory as desired (step by step, one shot,...)
///
/// \dotfile talos-manipulate-boxes-geometric-simu.launch.dot "Example of ROS architecture for a humanoid robot manipulating a box on a table. Blue and red boxes represent ROS nodes grouped by packages. Grey boxes represent launch files." width=100%
/// \subsubsection agimus_doc_subsubsec_diagrams Diagrams
///
/// \image html talos-manipulate-boxes-geometric-simu-rosgraph.svg "Example of ROS architecture for a humanoid robot manipulating a box on a table. Ellipses represent ROS nodes, rectangles represent topics." width=100%
/// Below are a few diagrams illustrating a demo where Pyrene grasps a box.
///
/// launch files | topic and nodes
/// ------------ | ---------------
/// \ref agimus_doc_sec_launch_files | \ref agimus_doc_sec_topics_and_nodes
///
/// \subsection agimus_doc_subsec_gazebo_simulation Gazebo simulation
///
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