Terminology
Operator: An end-user wanting to control and/or retrieve information about one or more robots in the building.
Robot Master: The primary master running on a given robot.
Platform: the base set of nodes (and their interface) running on a robot against the robot master. These nodes are brought up by robot.launch or equivalent.
Building Master: A single master running in the building at a known location.
Building Manager: The set of nodes running against the building master which provide:
- A discover mechanism for building-manager-capable robots
- A consistent ROS interface, giving operator clients access to robots
- A consistent ROS interface, giving building-manager-capable robots access to information about the building and/or other robots
Building-Manager-Capable Robot: A robot running the required set of nodes for interaction with the Building Manager as part of its platform.
Application: an additional set of ros nodes designed to run on top of the platform, and which provide a well-define ROS interface that can be used for
Assumptions
The building manager is connected to a ROS master at a known location (http://buildingmanager:11311)
- Each robot is running their own master
- Warehouse is running on the building manager
- RIDE UI runs against the building manager
- Building Manager and all robots are running on the same network (all ros resources are resolvable)
