HRIM 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:

hros_<device_kind>_<device_name>_<vendor_id>_<product_id>


hros_<device_kind>_<device_name>_<instance_id>


hrim_generic_msgs/msg/<MessageName>.msg

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

hrim_generic_srvs/srv/<ServiceName>.srv

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


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


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

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


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


/hros_<device_kind>_<device_name>_<instance_id>/<action_name>



hrim_<device_kind>_<device_name>_actions/<ActionName>.action


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


where:

hrim: Hardware Robot Information Model

hros: Hardware Robot Operative System

<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 in snake_notation.

<MessageName>: descriptive term for each message interface in PascalNotation.

<service_name>: descriptive term for each service in snake_notation.

<ServiceName>: descriptive term for each service interface in PascalNotation.

<action_name>: descriptive term for each action in snake_notation.

<ActionName>: descriptive term for each action interface in PascalNotation.

<parameter_name>: descriptive term for each parameter.

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

<parameter_value>: the value contained in the parameter.