.. _component_ports:

ROS Topic
=========

.. image:: images/ros_topic.png

Within a **Component** or **Component Assembly**, a **ROS Topic** is represented
by a **GenericDomainModelPort** with the following **Attributes.**

+-------------+---------------------------------------------------+-------------------------------------------------------------+
| Attributes  | Value                                             | Description                                                 |
+=============+===================================================+=============================================================+
| Type        | topic                                             |                                                             |
+-------------+---------------------------------------------------+-------------------------------------------------------------+
| Attribute 0 | force_name                                        | Use the GenericDomainModelPort's name as the ROS Topic name |
+-------------+---------------------------------------------------+-------------------------------------------------------------+
| Attribute 2 | *[msg type]*                                      | ROS Topic Msg Type *- e.g. WrenchStamped*                   |
+-------------+---------------------------------------------------+-------------------------------------------------------------+
| Attribute 7 | ros                                               |                                                             |
+-------------+---------------------------------------------------+-------------------------------------------------------------+

A **ROS Topic** is used to connect ROS Topic Publishers and ROS Topic Subscribers.

For each netlist of connected ports, the Interpreter will check that the
the port types all match *(e.g. a ROS Topic Publisher cannot broadcast to a ROS Service Server)*
and that the Topic Msg types *(if specified)* all match.

If a port's **Attribute 0 Value** is **force_name**,
then all ports on that netlist will be assigned the forcing GenericDomainModelPort's name.
If two or more ports have their **Attribute 0 Value** set to **force_name**, then one of their
names will be picked at random and assigned to all ports on that netlist. Be careful using **force_name**.

Otherwise, a unique ROS Topic name will be generated and assigned to ports in that netlist.

ROS Service
===========

.. image:: images/ros_service.png

Within a **Component** or **Component Assembly**, a **ROS Service** is represented
by a **GenericDomainModelPort** with the following **Attributes.**

+-------------+---------------------------------------------------+---------------------------------------------------------------+
| Attributes  | Value                                             | Description                                                   |
+=============+===================================================+===============================================================+
| Type        | service                                           |                                                               |
+-------------+---------------------------------------------------+---------------------------------------------------------------+
| Attribute 0 | force_name                                        | Use the GenericDomainModelPort's name as the ROS Service name |
+-------------+---------------------------------------------------+---------------------------------------------------------------+
| Attribute 2 | *[msg type]*                                      | ROS Service Msg Type *- e.g. Trigger*                         |
+-------------+---------------------------------------------------+---------------------------------------------------------------+
| Attribute 7 | ros                                               |                                                               |
+-------------+---------------------------------------------------+---------------------------------------------------------------+

A **ROS Service** is used to connect ROS Service Servers and ROS Service Clients.

For each netlist of connected ports, the Interpreter will check that the
the port types all match *(e.g. a ROS Topic Publisher cannot broadcast to a ROS Service Server)*
and that the Service Msg types *(if specified)* all match.

If a port's **Attribute 0 Value** is **force_name**,
then all ports on that netlist will be assigned the forcing GenericDomainModelPort's name.
If two or more ports have their **Attribute 0 Value** set to **force_name**, then one of their
names will be picked at random and assigned to all ports on that netlist. Be careful using **force_name**.

Otherwise, a unique ROS Service name will be generated and assigned to ports in that netlist.

ROS Action
==========

.. image:: images/ros_action.png

Within a **Component** or **Component Assembly**, a **ROS Action** is represented
by a **GenericDomainModelPort** with the following **Attributes.**

+-------------+---------------------------------------------------+--------------------------------------------------------------+
| Attributes  | Value                                             | Description                                                  |
+=============+===================================================+==============================================================+
| Type        | action                                            |                                                              |
+-------------+---------------------------------------------------+--------------------------------------------------------------+
| Attribute 0 | force_name                                        | Use the GenericDomainModelPort's name as the ROS Action name |
+-------------+---------------------------------------------------+--------------------------------------------------------------+
| Attribute 2 | *[msg type]*                                      | ROS Action Type *- e.g. Trajectory*                          |
+-------------+---------------------------------------------------+--------------------------------------------------------------+
| Attribute 7 | ros                                               |                                                              |
+-------------+---------------------------------------------------+--------------------------------------------------------------+

A **ROS Action** is used to connect ROS Action Servers and ROS Action Clients.

For each netlist of connected ports, the Interpreter will check that the
the port types all match *(e.g. a ROS Topic Publisher cannot broadcast to a ROS Service Server)*
and that the Action types *(if specified)* all match.

If a port's **Attribute 0 Value** is **force_name**,
then all ports on that netlist will be assigned the forcing GenericDomainModelPort's name.
If two or more ports have their **Attribute 0 Value** set to **force_name**, then one of their
names will be picked at random and assigned to all ports on that netlist. Be careful using **force_name**.

Otherwise, a unique ROS Action name will be generated and assigned to ports in that netlist.

URDF Link
=========

Within a **Component** or **Component Assembly**, a **URDF Link Port** is represented
by a **GenericDomainModelPort** with the following Attributes.

+-------------+---------------------------------------------------+--------------------------------------------------------------+
| Attributes  | Value                                             | Description                                                  |
+=============+===================================================+==============================================================+
| Type        | urdf_link                                         |                                                              |
+-------------+---------------------------------------------------+--------------------------------------------------------------+
| Attribute 7 | ros                                               |                                                              |
+-------------+---------------------------------------------------+--------------------------------------------------------------+

A URDF Link Port allows a designer to connect a ROS Node Model with a Component
that contains a physical model (generally a CAD Model).

URDF Link Target
================

Within a **Component** or **Component Assembly**, a **URDF Link Target Port** is represented
by a **GenericDomainModelPort** with the following Attributes.

+-------------+---------------------------------------------------+--------------------------------------------------------------+
| Attributes  | Value                                             | Description                                                  |
+=============+===================================================+==============================================================+
| Type        | urdf_link_target                                  |                                                              |
+-------------+---------------------------------------------------+--------------------------------------------------------------+
| Attribute 7 | ros                                               |                                                              |
+-------------+---------------------------------------------------+--------------------------------------------------------------+

A URDF Link Target Port allows a designer to connect a ROS Node Model with a Component
that contains a physical model (generally a CAD Model).