Naming convention

The standardization of the naming rules listed, allows the hardware vendor, developer or robot operator (user) to facilitate interoperability and reduce the time to read and understand the code, focusing on more important tasks than the syntax. The naming convention presented below is based on the ROS component model:

hrim_<device_kind>_<device_name>_<vendor_id>_<product_id>


hrim_<device_kind>_<device_name>_<instance_id>


/hrim_<device_kind>_<device_name>_<instance_id>/<topic_name>


hrim_<device_kind>_<device_name>_msgs/msg/<message_name>.msg

hrim_generic_msgs/msg/<message_name>.msg


/hrim_<device_kind>_<device_name>_<instance_id>/<service_name>


hrim_<device_kind>_<device_name>_srvs/srv/<service_name>.srv


hrim_<device_kind>_<device_name>_action/<action_name>.action


param name="<parameter_name>" type="<data_type>" value="<parameter_value>"


where:

hrim: Hardware Robot Information Model

<device_kind>: module type, for example, sensor or actuator.

<device_name>: or sub-type, for example, camera or rotary servomotor.

<vendor_id>: identifier for the device vendor.

<product_id>: identifier for the product, typically the manufacturer part.number.

<instance_id>: unique identifier for each device.

<topic_name>: descriptive term for each topic.

<message_name>: descriptive term for each message.

<parameter_name>: descriptive term for each parameter.

<data_type>: type of data for the corresponding parameter.

<parameter_value>: the value contained in the parameter.