ROS Architecture

This is the ROS architecture of our system:

AWS Instance

• ROS Master
• ROSBridge Server

Server

• May or may not be hosted on the AWS Instance
• ROSBridge Client
• Publishes ISAACS API

VR Client

• ROSBridge Client
• Sends service calls to Server
• Subscribes to data on the Server (non time critical, high bandwidth)
• Subscribes to data on the Drone / Sensor clients (time critical, low bandwidth)

Drone Client

ISAACS Layer

• ROSBridge Client
• Publishes Native Layer API (possibly modified)
• Publishes Native Layer topics
• Subscribes to Native Layer topics and makes Native Layer service calls

Native Layer

• Local ROSMaster

Sensor Client

ISAACS Layer

• ROSBridge Client
• Publishes Native Layer API (possibly modified)
• Publishes Native Layer topics
• Subscribes to Native Layer topics and makes Native Layer service calls

Native Layer

• Local ROSMaster