Hardware Robot Information Model (HRIM)

The Hardware Robot Information Model or HRIM for short, is a common interface that facilitates interoperability among different vendors of robot hardware components with the purpose of building modular robots. HRIM focuses on the standardization of the logical interfaces between robot modules, designing a set of rules that each device has to meet in order to achieve interoperability.

Real world implementations requires taking into account the common hardware modules used in robotics. The robot modules have been classified in 7 types of devices: sensor, actuator, cognition, communication, power, ui and composite. Each type is composed by sub-types or devices related to the functionality of the module. For example, a camera is a sub-type of the sensor type and represented with the following structure:

sensor/
...
├── camera
│   ├── hrim_sensor_camera_msgs
│   │   ├── CMakeLists.txt
│   │   ├── msg
│   │   │   ├── CameraInfo.msg
│   │   │   ├── CompressedImage.msg
│   │   │   ├── Image.msg
│   │   │   ├── PTZ.msg
│   │   │   └── SpecsCamera.msg
│   │   └── package.xml
│   └── hrim_sensor_camera_srvs
│       ├── CMakeLists.txt
│       ├── package.xml
│       └── srv
│           └── SetCameraInfo.srv
...

A preliminary whitepaper about this work is available at https://arxiv.org/abs/1802.01459. Please use the following BibTex entry to cite our work:

@article{hrim,
  title={An information model for modular robots: the Hardware Robot Information Model (HRIM)},
  author={Zamalloa, Irati and Muguruza, Iñigo and Hernández, Alejandro and Kojcev, Risto and Mayoral, Víctor},
  journal={arXiv preprint arXiv:1802.01459},
  year={2018}
}

Install dependencies

pip3 install lxml

Script usage

The command structure would be the following:

python3 hrim.py [-h] [-p {ros2}] [-e] {show,generate,list,clear} filePath

Where:

-h shows script's help.

-p/--platform should be followed by which platform (e.g. ROS 2) to generate the implementation in. Current valid values are:

ros2

-e/--extend indicates whether already shown definitions should be shown again or not when printing the module's model.

{show,generate,list,clear} is mandatory and signifies the action to take:

show: parses the passed module file and prints it's processed contents.
generate: parses the passed module file and generates the corresponding packages/files to use with the selected platform (ROS 2 by default). The generated files will be located inside a generated directory on the root of the repository.
list: provides a list of existing models or implementations.
clear: deletes generated implementations.

filePath is mandatory and is dependent on the action to take.

If the chosen action is show it signifies the path (either absolute or relative from the repository's root) to one of the following files:

models/actuator/gripper/gripper.xml
models/actuator/gripper/gripper_clean.xml
models/actuator/electricmotor/electricmotor.xml
models/actuator/electricmotor/electricmotor_clean.xml
models/actuator/servo/servo.xml
models/actuator/servo/servo_clean.xml
models/composite/mobilebase/mobilebase.xml
models/composite/mobilebase/mobilebase_clean.xml
models/composite/conveyor/conveyor.xml
models/composite/conveyor/conveyor_clean.xml
models/composite/arm/arm.xml
models/composite/arm/arm_clean.xml
models/power/battery/battery.xml
models/power/battery/battery_clean.xml
models/sensor/lidar/lidar.xml
models/sensor/lidar/lidar_clean.xml
models/sensor/rangefinder/rangefinder.xml
models/sensor/rangefinder/rangefinder_clean.xml
models/sensor/thermometer/thermometer.xml
models/sensor/thermometer/thermometer_clean.xml
models/sensor/3dcamera/3dcamera_stereo.xml
models/sensor/3dcamera/3dcamera_stereo_clean.xml
models/sensor/3dcamera/3dcamera_tof.xml
models/sensor/3dcamera/3dcamera_tof_clean.xml
models/sensor/3dcamera/3dcamera_depth.xml
models/sensor/3dcamera/3dcamera_depth_clean.xml
models/sensor/imu/imu.xml
models/sensor/imu/imu_clean.xml
models/sensor/hygrometer/hygrometer.xml
models/sensor/hygrometer/hygrometer_clean.xml
models/sensor/forcetorque/forcetorque.xml
models/sensor/forcetorque/forcetorque_clean.xml
models/sensor/gps/gps.xml
models/sensor/gps/gps_clean.xml
models/sensor/gasdetector/gasdetector.xml
models/sensor/gasdetector/gasdetector_clean.xml
models/sensor/torque/torque.xml
models/sensor/torque/torque_clean.xml
models/sensor/force/force.xml
models/sensor/force/force_clean.xml
models/sensor/microphone/microphone.xml
models/sensor/microphone/microphone_clean.xml
models/sensor/camera/camera.xml
models/sensor/camera/camera_clean.xml
models/sensor/encoder/encoder.xml
models/sensor/encoder/encoder_clean.xml

All of the following would be valid paths:

$(pwd)/models/sensor/torque/torque.xml
./models/sensor/torque/torque.xml
/models/sensor/torque/torque.xml
models/sensor/torque/torque.xml

If the chosen action is generate it can either represent one of the models listed above or one of the existing shorthands to generate the files for every existing module:

all: will generate the files for every existing (non-development) model file.
allClean: will generate the files for every existing development module file (model xml files ending with _clean).

If the chosen action is list it signifies what is meant to get listed:

models: will list all existing models.
implementations: will list all existing generated implementations.

If the chosen action is clear it can either represent a directory name or a shorthand:

{directory}: will delete that directory inside the generation folder (i.e. force would delete generated/force)
all: will delete every implementation of the chosen platform.

Examples

While positioned at the repository's root all of the following are valid command executions:

python3 hrim.py show $(pwd)/models/sensor/torque/torque.xml
python3 hrim.py show ./models/sensor/torque/torque.xml
python3 hrim.py -e show /models/sensor/torque/torque.xml
python3 hrim.py show --extend models/sensor/torque/torque.xml
python3 hrim.py show models/sensor/torque/torque.xml
python3 hrim.py generate $(pwd)/models/sensor/torque/torque.xml
python3 hrim.py generate ./models/sensor/torque/torque.xml
python3 hrim.py -p ros2 generate /models/sensor/torque/torque.xml
python3 hrim.py generate models/sensor/torque/torque.xml
python3 hrim.py generate --platform ros2 all
python3 hrim.py generate allClean
python3 hrim.py clear force
python3 hrim.py clear all

B0gdar / HRIM

Hardware Robot Information Model (HRIM)

Install dependencies

Script usage

Examples

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