Glossary

The glossary defines the tecnical terminology used on the Information Model. It is important to taking into account to understand well the hole document. As you can see in the Table of Content, firstly it has defined a general vocabulary and them more specific one: H-ROS types (classes of components that make up H-ROS), ROS 2 (the most common words of the Robot Operating System 2) and Naming convention (words that define the standard names of each H-ROS module).

In the documentation, the words component and module are used interchangeably.

granularity: The degree to which a robot module can be broken down into smaller separate modules.

interoperability: Ability to provide services and accept services to operate effectively together with other modules, components, robots, and other systems.

middleware: Software that connects two or more separate software modules in the same layer or between software layers, lies between the operating system and the software modules, and can control executions of the software modules.

plug-n-play: (plug-n-work) hardware componentrobot component with ability to be self-discovered when connected to other components and able t ostart functioning as intended.

robot module: Assembly of hardware or software modules for a specific function.

self-configuration: A process by which robot systems automatically adapt their own configuration of modules without human direct intervention.

self-reconfigurable component(s): Robot component(s) able to adjust their connectivity to other component(s) as required in line with changing circumstances such as accommodate failures or optimise performance.

standardized communication interface (SCI): Interface compliant to a defined communication model by an internationally recognised organization and publicly available. The SCI used within H-ROS is the 7-layer OSI model [ISO 7498-1].

Sensor: Sensing components help robots perceive its environment and share the information with the rest of the connected modules or with the user.

Actuator: Components within a robot that provide means of physical interaction with the environment.

Communication:Communication components provide means of interconnection between the modules of the robot or expose new communication channels to the overall network.

Cognition: Computation and coordination component, these modules perform most of the computationally expensive tasks within the robot.

Composite: Sophisticated sub-systems formed by composing basic components among the previous classes.

UI: Components that provide means of interfacing with the robot either though joysticks, tactile screens, voice commands, etc.

Power: Components whose purpose is to deliver power to the system or subsystems.

Package: Software is organized in “packages”. The goal of these packages it to provide this useful functionality in an easy-to-consume manner so that software can be easily reused.

Node: A "node" is an abstraction for a process that performs computation. ¿computing environment where a component execution framework is run in a remote setting.?

Topic: A "topic" is an abstraction for a name that is used to identify the communication channel between different nodes.

Message: A "message" is a simple data structure, comprising typed fields. Messages can include arbitrarily nested structures and arrays. Nodes communicate with each other by publishing messages to topics.

Service: Services enable Remote Procedure Call (RPC) request/response communication between nodes. A service is defined by a pair of messages: one for the request and one for the reply. Services are typically suitable for tasks that are inexpensive or “instantaneous” in the target module.

Action: Actions introduce the client/server paradigm within the message format of this standard. Actions allow Node A to send a request to perform a time consuming action in Node B. Actions also allows the monitor and interaction (stop, resume, cancel) with the remote task in execution.

Parameter: Numerical or other measurable factor forming one of a set that defines a module or sets the conditions of its operation.