Welcome to TASCK’s documentation!

Warning

The TASCK Toolchain is under active development, and its workflows / APIs are still changing.

Warning

This documentation is under active development and is not comprehensive.

Getting Started

• Introduction
  • The TASCK Toolchain
  • Acknowledgements
• Installation
  • Prerequisites
  • OpenMETA
  • TASCK Models and Workflows
  • PyYAML Dependency
  • SSH
  • ROS and Gazebo
    • Building ROS Workspace
  • Test Bench Executor
• See It In Action
  • Opening the Model
  • Viewing Library
  • Generating Physical Artifacts from Model
  • Generating Physical+Behavioral Artifacts from Model
• Next Steps

Tutorials

• ROS Simple Publisher and Subscriber Tutorial
  • Create a New Components Folder
  • Create Talker and Listener Components
  • Create New Component Assemblies Folder
  • Create Talker and Listener Component Assembly
  • Create Testing Folder
  • Create and Run Test Bench
  • Execute Generated ROS Launch File
• HEBI Daisy Hexapod Tutorial
  • Create New Component Assemblies Folder
  • Create Daisy Component Assembly
  • Build Chassis
  • Build Legs
  • Add User Input
  • Create Testing Folder
  • Create and Run Test Bench
  • Run Gazebo Simulation

Reference - Modeling

• Component
  • Domain Model
    • Physical Models
      • CAD Model
    • Behavior Models
      • ROS Node Model
        • ROS Topic Publisher/Subscriber
        • ROS Service Server/Client
        • ROS Action Client/Server
        • URDF Link Port
        • Parameter
    • Simulation Models
      • Gazebo Plugin Model
        • ROS Topic Publisher/Subscriber
        • ROS Service Server/Client
        • ROS Action Client/Server
        • URDF Link Port
        • Parameter
    • User Interface Models
      • rqt Plugin Model
        • ROS Topic Publisher/Subscriber
        • ROS Service Server/Client
        • ROS Action Client/Server
        • URDF Link Port
        • Parameter
      • rviz VisualizationManager/Display Model
        • ROS Topic Publisher/Subscriber
        • ROS Service Server/Client
        • ROS Action Client/Server
        • URDF Link Port
        • Parameter
  • Interfaces
    • ROS Topic
    • ROS Service
    • ROS Action
    • URDF Link
    • URDF Link Target
• Component Assembly
  • Interfaces
    • ROS Topic
    • ROS Service
    • ROS Action
    • URDF Link
    • URDF Link Target
• Test Bench
  • Test Bench Parameters
    • URDF File
    • ROS Launch File
    • Gazebo Simulation