Forum #3 - Topic #9 - Message List

Architecture questions

Hi everybody,

We are using JAUS for the first time. The first thing we want to test is the teleoperation of our mobile platform through a remote Joystick.

Here is a scheme of our first test: we have created a Joystick component on the host machine, and a MobilePlatform? component on the remote machine (Do you think we should create the MobilePlatform? component as an adaption of the "PrimitiveDriver?" component?).

PC1-Host Node Comp.Joystick (new component) Joystick

PC2-Rover Comp.MobilePlatform? (new component) CAN BUS PCI Board Driver Left Track Driver Right Track

Comp.Joystick sends to Comp.MobilePlatform? new message: SET_JOYSTICK_MESSAGE

What do you think? Is this scheme "correct" according to the OpenJAUS architecture?

Thanks,

Robert

rguzman
11/11/06 16:20:19
  • Message #8

    Teleoperation is a very common function, and although your scheme makes sense, it fails to take advantage of what makes JAUS great. By implementing custom components for the joystick and mobile platform, and implementing a custom message for the two to communicate, you cut out the possibility of commanding your mobile platform with another operator control unit (OCU), or commanding a different JAUS-compliant mobile platform with your joystick! Even if that isn't something you're considering right now, it may be very important to you in the future.

    There are components and messages already in the JAUS Reference Architecture (RA) that should suit all of your needs. If you haven't already familiarized yourself with the RA, its well worth looking at: http://www.jauswg.org/baseline/refarch.html

    Your Comp.Joystick component should really be a Subsystem Commander component (ID 32), which, instead of sending a custom message, sends Set Wrench Effort messages, and any other standard JAUS messages you may need.

    Your Comp.MobilePlatform? component would be, at its simplest, a Primitive Driver component (ID 33). The fact that your vehicle is tracked, and is controlled by a CAN Bus PCI Board, doesn't really matter. Those details are for the lowest level of your Primitive Driver implementation to worry about.

    Are there aspects of your design that you think don't lend themselves well to the standard JAUS components and messages? It may not be entirely apparent at first, but we should be able to point you in the right direction.

    bprodoehl
    11/11/06 20:18:43