This page illustrate the structure of the AIRLab Subversion repository of source code for robots. The repository is subdivided into two separate sections:
- generic_libraries containing software packages that implement single robot functionalities in the form of libraries for general use. Each library must be a stand-alone package with its own Makefile, to be compiled separately.
- specific_modules, containing software packages that are dedicated to specific robots (or other devices). Each package can take one of the following forms:
- A complete [Ros Howto | ROS] package implementing all the functionalities of the device, able to operate on its own as a ROS system (including launchfiles);
- One or more Ros Howto | ROS nodes implementing one of the functionalities of the device, ready for integration into larger ROS systems but not able to operate on their own as ROS systems;
- a special-purpose software library which is dedicated to the device, the function of which is too specialized for inclusion in the generic_libraries section of the repository. In this case it is mandatory to provide, along with the library, a ROS wrapper in the form of one or more ROS nodes: the ROS wrapper is the only allowed method to access the library.
Whoever develops software for AIRLab must comply with the following criteria for software design and inclusion in the Subversion repository.
Structure of the repository
The following is a template for the structure of the AIRLab Subversion source code repository. Elements in italic are examples (some of them are actual software modules developed in AIRLab, other are placeholders for "legacy" packages which do not comply with the repository's structure and will be replaced with newer versions and/or newer software).