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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,105 +1,206 @@ | ||
| digraph D { | ||
| fontname="sans"; | ||
| subgraph cluster_legend{ | ||
| label="legend" | ||
| // ROS Topics | ||
| topic_name; | ||
| // ROS Nodes | ||
| node [shape=box] | ||
| node_name; | ||
|
|
||
| // Connection | ||
| node_name -> topic_name [label="publish"]; | ||
| topic_name -> node_name [label="subscribe"]; | ||
| } | ||
|
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||
|
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| //subgraph cluster_legend{ | ||
| // label="legend" | ||
| // // ROS Topics | ||
| // topic_name; | ||
| // // ROS Nodes | ||
| // node [shape=box] | ||
| // node_name; | ||
| // // Connection | ||
| // node_name -> topic_name [label="publish"]; | ||
| // topic_name -> node_name [label="subscribe"]; | ||
| //} | ||
|
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||
| // Nodes | ||
|
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||
| node [shape=box]; | ||
| lane_filter; //tells you y and phi | ||
| line_detector; | ||
| april_tag_detector; | ||
| intersection_filter; | ||
| global_localizer; | ||
| stop_line_filter; | ||
| camera_node; | ||
| led_detector; | ||
| obj_detector; | ||
| map_reader; | ||
| lane_controller; | ||
| car_supervisor; | ||
| joy_node; | ||
| joy_mapper; | ||
| beeper; | ||
| intersection_controller; | ||
| safety_supervisor; | ||
| wheel_driver; | ||
| mission_planner; | ||
| rgb_led; | ||
| veh_detector; | ||
| //{rank=max; wheel_driver;beeper;rgb_led} | ||
| //{rank=min; map_reader;joy_node;camera_node} | ||
|
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| // Topics | ||
| node [shape=ellipse]; | ||
| //{rank=same; mission; joy; map_representation;} | ||
| map_representation; | ||
| img_low; | ||
| img_high; | ||
| segment_list; | ||
| image_with_lines; | ||
| lane_reading; //LaneReading: y, phi, sigma_y, sigma_phi, status | ||
| april_tag_detection; | ||
| led_detection; | ||
| veh_detection; | ||
| traffic_light_detection; | ||
| intersection_reading; | ||
| obj_detection; | ||
| global_readings; | ||
| stop_line_reading; | ||
| mode; | ||
| mission; | ||
| lane_control; | ||
| joy_control; | ||
| intersection_control; | ||
|
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||
| subgraph cluster_perception{ | ||
| label="perception" | ||
| // TOPIC | ||
| img; | ||
| segment_list; | ||
| image_with_lines; | ||
| lane_reading; //LaneReading: y, phi, sigma_y, sigma_phi, status | ||
| // ROS Nodes | ||
| node [shape=box]; | ||
| lane_filter; //tells you y and phi | ||
| // Nodes | ||
| camera_node; | ||
| obj_detector; | ||
| line_detector; | ||
| lane_filter; | ||
| april_tag_detector; | ||
| sign_detector; | ||
| traffic_light_detector; | ||
| vehicle_detector; | ||
| duckie_detector; | ||
| relative_intersection_localizer; | ||
| global_localizer; | ||
| stop_line_detector; | ||
| camera_node; | ||
| april_tag_detection; | ||
| led_detector; | ||
| plate_detector; | ||
|
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||
| // Connections | ||
| camera_node->img; | ||
|
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||
| img->line_detector; | ||
| img->april_tag_detector; | ||
| img->led_detector; | ||
| img->stop_line_detector; | ||
| img->relative_intersection_localizer; | ||
| img->duckie_detector; | ||
| img->vehicle_detector; | ||
| img->traffic_light_detector; | ||
| img->sign_detector; | ||
| img->plate_detector; | ||
|
|
||
| line_detector->segment_list [label="SegmentList.msg"]; | ||
| line_detector->image_with_lines [label="sensor_msgs/Image.msg"] | ||
| segment_list->lane_filter; | ||
| lane_filter->lane_reading [label="LaneReading.msg"]; | ||
| veh_detector; | ||
| stop_line_filter; | ||
| traffic_light_detector; | ||
| intersection_filter; | ||
| // Topics | ||
| segment_list; | ||
| img_low; | ||
| img_high; | ||
| april_tag_detection; | ||
| lane_reading; | ||
| image_with_lines; | ||
| obj_detection; | ||
| led_detection; | ||
| veh_detection; | ||
| stop_line_reading; | ||
| traffic_light_detection; | ||
| intersection_reading; | ||
| } | ||
|
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||
| subgraph cluster_control{ | ||
| label="control" | ||
| // Nodes | ||
| joy_node; | ||
| joy_mapper; | ||
| lane_controller; | ||
| intersection_controller; | ||
| car_supervisor; | ||
| safety_supervisor; | ||
| // Topics | ||
| joy_control; | ||
| joy; | ||
| lane_control; | ||
| intersection_control; | ||
| {rank=same; intersection_controller;lane_controller;} | ||
| } | ||
|
|
||
| subgraph cluster_map{ | ||
| label="map"; | ||
| // TOPICS | ||
| subgraph cluster_localization{ | ||
| label="localization" | ||
| // Nodes | ||
| map_reader; | ||
| global_localizer; | ||
|
|
||
| // Topics | ||
| map_representation; | ||
| // ROS Nodes | ||
| node [shape=box]; | ||
| map_visualizer; | ||
| map_editor; | ||
| localization; | ||
| planning; | ||
| slam; | ||
|
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||
| slam -> map_representation; | ||
| map_representation -> map_visualizer; | ||
| map_editor -> map_representation; | ||
| map_representation -> map_editor; | ||
| map_representation -> planning; | ||
| map_representation -> localization; | ||
| global_readings; | ||
| } | ||
|
|
||
| subgraph cluster_lane_following{ | ||
| label="lane following"; | ||
| // TOPICS | ||
| subgraph cluster_planning{ | ||
| label="planning" | ||
| // Nodes | ||
| mission_planner; | ||
| // Topics | ||
| mission; | ||
| mode; | ||
| } | ||
|
|
||
| // ROS Nodes | ||
| node [shape=box]; | ||
| lane_controller; | ||
| car_emulator; | ||
| car_supervisor; | ||
| joy_node; | ||
| joy_mapper; | ||
| subgraph cluster_driver{ | ||
| label="driver" | ||
| // Nodes | ||
| wheel_driver; | ||
| beeper; | ||
| safety_supervisor; | ||
| // CONNECTIONS | ||
| joy_node->joy_mapper [label="sensor_msgs/Joy.msg"]; | ||
| joy_mapper-> car_supervisor [label="CarControl.msg"]; | ||
| lane_reading->lane_controller [label="LaneReading.msg"]; | ||
| lane_controller-> car_supervisor [label="CarControl.msg"]; | ||
| //car_supervisor -> beeper [label="std_msgs/Bool.msg"]; | ||
| //car_supervisor->car_emulator [label="CarControl.msg"]; | ||
| car_supervisor->safety_supervisor [label="CarControl.msg"]; | ||
| safety_supervisor->car_emulator [label="CarControl.msg"]; | ||
| safety_supervisor->beeper [label="std_msgs/Bool.msg"]; | ||
| car_emulator->wheel_driver [label="WheelCmd.msg"]; | ||
| rgb_led; | ||
| } | ||
|
|
||
|
|
||
| // Connections | ||
| camera_node->img_high; | ||
| camera_node->img_low; | ||
|
|
||
| img_low->line_detector; | ||
| img_low->led_detector; | ||
|
|
||
| img_high->april_tag_detector; | ||
| img_high->obj_detector; | ||
|
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||
| led_detector->led_detection; | ||
| led_detection->veh_detector; | ||
| led_detection->traffic_light_detector; | ||
|
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||
| veh_detector->veh_detection; | ||
| traffic_light_detector->traffic_light_detection; | ||
|
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| intersection_filter->intersection_reading; | ||
|
|
||
| line_detector->segment_list [label="SegmentList.msg"]; | ||
| line_detector->image_with_lines [label="sensor_msgs/Image.msg"] | ||
| segment_list->stop_line_filter; | ||
| segment_list->lane_filter; | ||
| lane_filter->lane_reading [label="LaneReading.msg"]; | ||
| lane_reading->lane_controller [label="LaneReading.msg"]; | ||
| lane_reading->mission_planner; | ||
|
|
||
| stop_line_filter->stop_line_reading; | ||
| stop_line_reading->lane_controller; | ||
| stop_line_reading->mission_planner; | ||
|
|
||
| obj_detector->obj_detection; | ||
| obj_detection->global_localizer; | ||
| april_tag_detector->april_tag_detection; | ||
| april_tag_detection->intersection_filter; | ||
| april_tag_detection->global_localizer; | ||
| global_localizer->global_readings; | ||
|
|
||
| map_reader -> map_representation; | ||
| map_representation->global_localizer; | ||
| map_representation->mission_planner; | ||
|
|
||
| joy_node->joy->joy_mapper->joy_control; | ||
| joy_control-> car_supervisor [label="CarControl.msg"]; | ||
| lane_controller->lane_control; | ||
| lane_control-> car_supervisor [label="CarControl.msg"]; | ||
| car_supervisor->safety_supervisor [label="CarControl.msg"]; | ||
| safety_supervisor->wheel_driver; | ||
| safety_supervisor->beeper; | ||
|
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| intersection_reading->intersection_controller; | ||
| intersection_reading->mission_planner; | ||
| traffic_light_detection->intersection_controller; | ||
| mode->intersection_controller; | ||
| mode->lane_controller; | ||
|
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||
| veh_detection->safety_supervisor; | ||
| intersection_controller->intersection_control; | ||
| intersection_control->safety_supervisor; | ||
| global_readings->mission_planner; | ||
| mission_planner->mode; | ||
| mission->mission_planner; | ||
|
|
||
| //TODO annotate msg type. | ||
| } |