ROS Topic

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

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

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).