Project Architecture

Software Components

https://www.lucidchart.com/publicSegments/view/73d07754-deff-43fb-a7bf-40dea2eefcc2/image.png

Interfaces

See Predefined ROS Topics.

Koord Language Compiler

  • Java + ANTLR

CyPyHous3 Middleware

  • Python 3.5.2 + ROS + OMPL
  • ROS for communication with hardware controllers
  • OMPL for path planning

Hardware Controller

  • C++ + ROS

Simulator and Visualizer

  • Python 3.5.2 + Gazebo

Device Discovery and Launch

  • Python 3.5.2

BEST Effort Safe Termination

  • C++

Todo

Link to each repository? Version and packages for C++ and Java. Diagrams and interfaces?

Hardware Devices

F1/10

Drone

Todo

Fill in short descriptions for each device