Component

A Component is the atomic model construct in OpenMETA. A Component contains one or more Domain Models as well as Interfaces used to expose parts of the Component to the external environment.

Note

To learn more about OpenMETA Components, please consult the OpenMETA documentation

Shown below are two different Component models:

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HEBI X5-1 Actuator Component (Outside)

HEBI X5-1 Actuator Component (Inside)

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HEBI Hexapod Step-Push Leg Component (Outside)

HEBI Hexapod Step-Push Leg Component (Inside)

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Domain Model

A Domain Model is a specific aspect or view of the “thing” represented by its parent Component.

• 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