Package Structure

Directory Structure of an ArmarX Package

Each ArmarX Package contains the same set of directories:

• build
  • bin
  • lib
  • config
  • doxygen
  • icegrid
  • source/${PackageName}
• data
• etc
  • cmake
  • config
  • doxygen
  • templates
  • scripts
  • ...
• scenarios
• source/${PackageName}
  • interface
  • applications
  • components
  • gui-plugins
  • statecharts
  • units
  • libraries

Concepts

The following image describes the Ice infrastructure setup used for running instances of armarx::Application.

ArmarX Ice Setup

• The Robot consists of several IceGrid-Node which form the IceGrid which in turn manages all running applications and services.
• Typically there is one IceGrid-Node node running on one PC but they can also be run on the same host.
• Each IceGrid-Node is responsible for running applications getting asigned to it by the IceGrid.
• One IceGrid-Node runs the IceGrid registry which is responsible for locating proxies and services.
• One IceGrid-Node runs the IceStorm Publish/Subscribe server.

The next image describes the relationships between IceGrid-Nodes, armarx::Application, armarx::Component and the corresponding Ice adapters and proxies.

ArmarX IceGrid-Node and Application Structure