D2.1 Requirements and Specification - CORBYS
D2.1 Requirements and Specification - CORBYS
D2.1 Requirements and Specification - CORBYS
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<strong>D2.1</strong> <strong>Requirements</strong> <strong>and</strong> <strong>Specification</strong><br />
Reason / Comments: The form of the input will be determined in discussion with the partner responsible<br />
Indicative priority M<strong>and</strong>atory<br />
Outputs:<br />
Requirement No. FAI17<br />
Name: Robot cognitive control architecture<br />
Description: Program Code / Documentation<br />
Reason<br />
Comments:<br />
/ Final architecture combining all components into one system<br />
Indicative priority M<strong>and</strong>atory<br />
6.8.1.2 Interfaces<br />
If observed as a sub-system the software control architecture is the interface between robot hardware <strong>and</strong><br />
robot intelligence. All software sub-systems listed in the table above (list is not finalised) will communicate<br />
with each other <strong>and</strong> they will form the “brain” of the robotic system. The software framework that “glues”<br />
together all other modules will provide basic functionalities of communication between modules, scheduling,<br />
hardware abstraction <strong>and</strong> similar. For the communication between the modules, the Robot Operating System<br />
ROS will be used as a framework for robot software development. The communication will be instantiated in<br />
C++ in an open manner, using platform <strong>and</strong> programming language independent interfaces. All information<br />
will be h<strong>and</strong>led in data-containers that can be configured for every specific need <strong>and</strong> identified by its recipient<br />
for further use. Desired data has to be explicitly requested <strong>and</strong> can contain either single values or a request for<br />
data streams.<br />
Requirement No. FAI18<br />
Name: Interface to sensor network <strong>and</strong> actuation system (CAN)<br />
Description: In order to control the robotic system <strong>and</strong> to sense the environment <strong>and</strong> robots internal state<br />
it is necessary to communicate sensor data <strong>and</strong> exchange it between software modules of<br />
robotic system. CAN interface will be used for communication. The structure of CAN<br />
contents should be determined (TBD).<br />
Reason / Comments: CAN network is widely used protocol in robotics, automation <strong>and</strong> automotive industries. It<br />
is supported by a large number of manufacturers <strong>and</strong> de facto st<strong>and</strong>ard for complex robotic<br />
systems.<br />
Indicative priority M<strong>and</strong>atory<br />
Requirement No. FAI19<br />
Name: Interface to user interface<br />
Description: TBD<br />
Reason / Comments: TBD<br />
Indicative priority Optional<br />
6.8.1.3 Operating environment<br />
Requirement No. FAI20<br />
Name: ROS environment<br />
Description: The cognitive sub-system will be one of the entities of the robot control architecture that will<br />
be implemented using the ROS (Robot Operating System) software.<br />
Reason / Comments: ROS is framework for robot software development. It provides libraries <strong>and</strong> tools to help<br />
software developers create robot applications. It provides hardware abstraction, device<br />
drivers, libraries, visualisers, message-passing, package management, <strong>and</strong> more.<br />
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