diff --git a/doc/using_the_march_exoskeleton/high_level_overview.rst b/doc/using_the_march_exoskeleton/high_level_overview.rst index 0b13cfbc..46613a3f 100644 --- a/doc/using_the_march_exoskeleton/high_level_overview.rst +++ b/doc/using_the_march_exoskeleton/high_level_overview.rst @@ -6,18 +6,27 @@ A high level overview of the components that make up the |march|. .. inclusion-introduction-end -.. figure:: images/software_stack.png +.. figure:: images/high_level_architecture.svg :align: center The March software stack Simulation versus Exoskeleton ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -As our exoskeleton is under construction most of the time, we have made use of a simulation to ensure we can verify our higher level nodes work. -As seen in the above image, most of the hardware components have a simulated counterpart. +As the |march| is under construction most of the time, we have made use of +a simulation to ensure we can verify our higher level nodes work. As seen in +the above image, most of the hardware components have a simulated counterpart. -At launch time, the user is asked if they are trying to run on the exoskeleton or on the simulation. -Based on this selection, the required components are started. +When launching, the user can choose whether to launch the simulation or the +hardware. See :ref:`march-launch-label` for more information on launching the +exoskeleton. Input Device ^^^^^^^^^^^^ +The pilot of the exoskeleton can give input on which gait they want to perform +through the input device embedded in one of the crutches, see +:ref:`march-input-device-label`. Furthermore, there exists a developer input +device in the form of an RQT plugin, see :ref:`march-rqt-input-device-label`. +Both of these ways of input can either be used in the simulation or the +hardware. They are not dependent on the configuration in which the exoskeleton +is run. diff --git a/doc/using_the_march_exoskeleton/images/high_level_architecture.svg b/doc/using_the_march_exoskeleton/images/high_level_architecture.svg new file mode 100644 index 00000000..079e0123 --- /dev/null +++ b/doc/using_the_march_exoskeleton/images/high_level_architecture.svg @@ -0,0 +1,688 @@ + + + + + + + + + + +
+
+
gait name
+
+
+ + <div>gait + name</div> + + + + + + + +
+
+

+ State Machine +
+

+
+
+ + [Not + supported by viewer] + + + + + + + + +
+
+ feedback +
+
+ + + feedback + + + + + + + + + + +
+
+ gait +
+
+ + gait + + + + + + + +
+
+ Gait Selection +
+
+ + Gait + Selection + + + + + + + + +
+
+
feedback
+
+
+ + <div>feedback</div> + + + + + + + + +
+
+ Gait Scheduler +
+
+ + Gait + Scheduler + + + + + + + +
+
+
Gait Files
+
+
+ + <div>Gait + Files</div> + + + + + + + +
+
+ Gait Generator +
+
+ + Gait + Generator + + + + + + + + +
+
+ generate gaits +
+
+ + generate + gaits + + + + + + + + + +
+
+ load gaits +
+
+ + load + gaits + + + + + + + + + + + +
+
+ RQT Input Device +
+
+ + RQT Input + Device + + + + + + + + + + + +
+
+ Embedded Input Device +
+
+ + Embedded + Input Device + + + + + + + +
+
+ gait instruction +
+
+ + [Not + supported by viewer] + + + + + + + +
+
+ Safety +
+
+ + Safety + + + + + + + + + + Exoskeleton + + + + + + +
+
+ actuate +
+
+ + actuate + + + + + + + +
+
+ Controller +
+
+ + + Controller + + + + + + + + +
+
+
feedback
+
+
+ + <div>feedback</div> + + + + + + +
+
+ Hardware +
+
+ + + Hardware + + + + + + + +
+
+ Motor Encoders +
+
+ + Motor + Encoders + + + + + + + +
+
+ Motor Controllers +
+
+ + Motor + Controllers + + + + + + + +
+
+ Temperature Sensors +
+
+ + + Temperature Sensors + + + + + + + +
+
+ Power Distribution Board +
+
+ + Power + Distribution Board + + + + + + + + + + Simulation + + + + + + +
+
+
actuate
+
+
+ + <div>actuate</div> + + + + + + +
+
+ Controller +
+
+ + + Controller + + + + + + + + +
+
+ feedback +
+
+ + + feedback + + + + + + + +
+
+ Gazebo +
+
+ + Gazebo + + + + + + + + + + + + + +
+
+ URDF +
+
+ + URDF + + + + + + +
+
+ sensor values +
+
+ + [Not + supported by viewer] + + + + + + +
+
+ ping +
+
+ + ping + + + + + + + + + + + +
+
+ Gain Scheduler +
+
+ + Gain + Scheduler + + + + + + + + +
+
+ joint trajectory +
+
+ + joint + trajectory + + + + + diff --git a/doc/using_the_march_exoskeleton/images/software_stack.png b/doc/using_the_march_exoskeleton/images/software_stack.png deleted file mode 100644 index 5ea6f749..00000000 Binary files a/doc/using_the_march_exoskeleton/images/software_stack.png and /dev/null differ