Level 1: Developers

A developers' oriented API powered by ROS 2.0 and built on top of a standardized information model for robots, the Hardware Robot Information Model (HRIM) that ensures interoperability across manufacturers. The H-ROS API Level 1 consists of 4 elements.

ROS 2.0 API

The Robot Operating System (ROS) is a set of software libraries and tools that help you build robot applications. H-ROS provides a set of topics, services, actions and parameters to focus only in the the application. Built around ROS, HRIM is an information model for robots that facilitates interoperability among modules from different vendors of robot hardware. Offering a common interface, it simplifies reconfigurability and flexibility, an innovation the robotics industry strongly demands.

Visualization

RVIZ2 is a ROS 2.0 graphical interface that allows you to visualize a lot of information, using plugins for many kinds of available topics.

Simulation

Robot simulation is an essential tool in every roboticists toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, and perform regression testing using realistic scenarios. Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments. At your fingertips is a robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces. Best of all, Gazebo is free with a vibrant community.

Command Line Interface (CLI)

This CLI will communicate with the API available in each of the H-ROS modules. This CLI will allow to configure some basic aspects related to our H-ROS SoM.

  • Get the actual information of the SoM (Version, hostname...)
  • Start/Stop the lifecycle that is running
  • Get and set the RMW_IMPLEMENTATION running
  • Get and set the ROS_DOMAIN_ID running
  • Modular Joints specific:
    • Set the actual position as zero