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Welcome to the turtleGripper wiki!
This code repo holds all the packages necessary for the turtleGripper to function. And most of them are categorized into the following 4 modules:
- nav_module: To handle all the navigation tasks.
- cv_module: To handle all the vision tasks.
- man_module: To handle all the manipulation tasks.
- mng_module: To manage all the tasks and interaction among above three modules and to provide a user interface for the user to command.
- The simulation module: Besides the 4 core modules above, we also have 2 independent packages, one creates the robot model and the other creates the Gazebo simulation environment. They are the all_description and the tgrip_gazebo packages. Together they consist the simulation module.
For more detailed information, please refer to the corresponding subpages for each module, still under construction.
Modules 1~4 together form the architecture of the software system of the turtleGripper. Here's a diagram showing the conceptual design of it. ( There's a similar diagram in the mng_module subpage, showing what we actually did. )
The same diagram but more implementation-oriented:
Here's a pdf download link for your convenience. For contributor's convenience, here's the link to modify this diagram.