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Michael T Brunson edited this page Dec 8, 2015 · 3 revisions

UML Diagram

The internal structure of the application is very simple. The main activity is an instance of a RosActivity, a specialized activity provided by the ROSJava library for connecting to a robot over a network connection. Once a user connects to a robot, the application will switch to the main interface which consists of multiple independent views backed by ROSJava classes: JoystickView, VisualizationView, and RosImageView. These three views are provided by the ROSJava library.

The JoysickView shows the joystick and allows the user to drive the robot and the RosImageView displays the image information from the camera mounted on the robot. The VisualizationView is a little more complicated. It contains a list of layers which render themselves within the VisualizationView. The two layers that are used in the application are the RobotLayer (for position tracking) and the LaserScanLayer (for displaying laser scan information).

Diagram made with UMLet

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