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DataStructure.md

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141 lines (136 loc) · 3.18 KB
  {
    nodes: [
      {
        name: "/node1",
        topics: {
          publishes: [
            {
              name: "/generic_topic",
              type: "std_msgs/String",
            }
          ],
          subscribes: [],
        },
        services: {
          clients: [],
          servers: [],
        }
      },
      {
        name: "/node2",
        topics: {
          publishes: [],
          subscribes: [
            {
              name: "/generic_topic",
              type: "std_msgs/String",
            }
          ],
        },
        services: {
          clients: [],
          servers: [],
        }
      },
    ],
  }

  {
    nodes: [
      {name: "/node1"},
      {name: "/node2"},
    ]
    topics: [
      {
        name: "/generic_topic",
        type: "std_msgs/String",
        publishers: ["/node1"],
        subscribers: ["/node2"],
      }
    ],
    services: [
      {
        name: "/sum_numbers",
        messageType: "something/SumNumbers",
        server: "/node2",
      }
    ],
    actions: [
      {
        name: "/go_to_waypoint",
        server: "/node1",
        messageType: "nstd_msgs/GoToWaypoint",
        clients: [],
      }
    ]
  }

  {
    nodes: [
      {
        name: "/node1",
        type: "node",
      },
      {
        name: "/node2",
        type: "node",
      },
      {
        name: "/generic_topic",
        type: "topic",
        messageType: "std_msgs/String",
      },
      {
        name: "/sum_numbers",
        type: "service"
        messageType: "something/SumNumbers",
      }
    ],
    edges: [
      {
        type: "topic_publisher",
        node: "/node1",
        topic: "/generic_topic"
      },
      {
        type: "topic_publisher",
        node: "/node2",
        topic: "/generic_topic",
      }

    ]
  }

  [
    {
      name: "/node1",
      type: "node",
      out: [
        "/generic_topic",
      ]
    },
    {
      name: "/node2",
      type: "node",
      in: [
        "/generic_topic",
      ]
    },
    {
      name: "/generic_topic",
      type: "topic",
      messageType: "std_msgs/String",
      in: [
        "/node1",
      ],
      out: [
        "/node2",
      ]
    },
    {
      name: "/sum_numbers",
      type: "service"
      messageType: "something/SumNumbers",
    }
  ]