ROS Node Model

Within a Component, a ROS Node is represented by a GenericDomainModel with the following Attributes.

Attributes Value Description
Type node  
Domain ros  
Attribute 0 [ROS package] ROS package name, - e.g. “gazebo_ros”
Attribute 1 [executable name] ROS node executable name - e.g. “spawn_model”
Attribute 2 [output]
“screen” - stdout/stderr to screen
“log” - stdout/stderr to log file
Attribute 3 [launch-prefix] Node’s launch arguments - e.g. “xterm -e”

If the CyPhy Master Interpreter is run, these Attributes will be used to populate a node element in the generated ROS .launch file:

<node
  name=[GenericDomainModel name]
  pkg=[ROS package]
  type=[executable name]
  output=[output]
  launch-prefix=[launch-prefix]
/>

Note

For a better understanding of the roslaunch XML node syntax, please consult its documentation

../../../../_images/hexapod_leg_fsm_node_gdm_outside.png

Hexapod Leg FSM Node GenericDomainModel (Outside)

../../../../_images/hexapod_leg_fsm_node_gdm_attributes.png

Hexapod Leg FSM Node GenericDomainModel (Attributes)

../../../../_images/hexapod_leg_fsm_node_gdm_inside.png

Hexapod Leg FSM Node GenericDomainModel (Inside)

A ROS Node Model GenericDomainModel may contain the following elements: