diagrams for Launch and URDF files

Author: macmacal

aegis_bringup/README.md

@@ -36,3 +36,70 @@ effort: [0.0, 0.0]"
 ```bash
 ros2 service call /dashboard_client/play std_srvs/srv/Trigger {}
 ```
+
+## Launch files diagram
+
+```plantuml
+@startuml Launch Files
+
+package aegis_bringup {
+    class bringup << (L,#FF7700) LaunchFile >> {
+        Arg namespace=""
+        Arg mock_hardware="false"
+    }
+}
+
+package aegis_control {
+    class start_drivers << (L,#FF7700) LaunchFile >> {
+        Arg namespace
+        Arg mock_hardware
+    }
+    class robot_description << (L,#FF7700) LaunchFile >> {
+        Arg namespace
+        Arg mock_hardware
+        Node robot_state_publisher()
+    }
+    class ur_driver << (L,#FF7700) LaunchFile >> {
+        Arg namespace
+        Arg mock_hardware
+        Node control_node()
+        Node ur_control_node()
+        Node dashboard_client_node()
+        Node tool_communication_node()
+        Node controller_stopper_node()
+        Node urscript_interface()
+        Node controller_spawners()
+    }
+
+}
+
+package aegis_description {
+    class aegis_display << (L,#FF7700) LaunchFile >> {
+        Launch urdf_launch/display.launch()
+        Node static_transform_publisher()
+    }
+}
+
+package aegis_moveit_config {
+    class move_group << (L,#FF7700) LaunchFile >> {
+        Arg namespace
+        Arg fake_hardware
+        Arg launch_rviz
+        Node move_group_node()
+        Node rviz_node()
+        Node tf_robot_base_node()
+        Node tf_odom_node()
+        Node robot_state_publisher_node()
+        Node scene_objects_manager_node()
+    }
+}
+
+
+aegis_bringup.bringup --> aegis_control.start_drivers
+aegis_bringup.bringup --> aegis_moveit_config.move_group
+aegis_control.start_drivers --> aegis_control.robot_description
+aegis_control.start_drivers --> aegis_control.ur_driver
+
+skinparam classAttributeIconSize 0
+@enduml
+```

aegis_description/README.md

@@ -12,3 +12,75 @@ ros2 launch aegis_description display.launch.py
 ```
 
 ![aegis_preview](./docs/aegis_preview.png)
+
+
+## URDF files diagram
+
+```plantuml
+@startuml URDF diagram
+
+package aegis_control {
+    class aegis_control_urdf << (U,#bcffc8) urdf.xacro >> {
+        arg mock_hardware="false"
+    }
+    class aegis << (R,#98b6e9) urdf.ros2_control >> {}
+    class initial_positions << (Y,#ffffc9) YAML >> {}
+}
+
+package aegis_description {
+    class aegis << (X,cyan) xacro >> {}
+    class aegis_urdf << (U,#bcffc8) urdf.xacro >> {}
+    class cylinders_inertial << (X,cyan) xacro >> {}
+
+    package modules {
+        class adapter_from_sensor << (X,cyan) xacro >> {}
+        class adapter_to_sensor << (X,cyan) xacro >> {}
+        class ft_schunk_axia80 << (X,cyan) xacro >> {}
+        class ur_definition << (X,cyan) xacro >> {}
+    }
+}
+
+package aegis_moveit_config {
+    class aegis << (S,#c298e9) SRDF >> {}
+}
+
+package robotiq_hande_gripper {
+    class robotiq_hande_gripper << (X,cyan) xacro >> {}
+}
+
+package net_ft_description {
+    class net_ft_sensor << (X,cyan) xacro >> {}
+}
+
+package ur_description {
+    class ur_macro << (X,cyan) xacro >> {}
+    class joint_limits << (Y,#ffffc9) YAML >> {}
+    class physical_parameters << (Y,#ffffc9) YAML >> {}
+    class visual_parameters << (Y,#ffffc9) YAML >> {}
+}
+
+package ur_robot_driver {
+    class rtde_output_recipe << (T,#ffffc9) TXT >> {}
+    class rtde_input_recipe << (T,#ffffc9) TXT >> {}
+}
+
+
+aegis_control.aegis_control_urdf *-- aegis_control.aegis
+aegis_control.aegis_control_urdf *-- aegis_description.aegis
+aegis_control.aegis_control_urdf o-- aegis_control.initial_positions
+
+aegis_description.aegis_urdf *-- aegis_description.aegis
+aegis_description.aegis *-- aegis_description.modules
+aegis_description.aegis *-- robotiq_hande_gripper.robotiq_hande_gripper
+
+aegis_description.modules.adapter_from_sensor *-- aegis_description.cylinders_inertial
+aegis_description.modules.adapter_to_sensor *-- aegis_description.cylinders_inertial
+aegis_description.modules.ft_schunk_axia80 *-- net_ft_description.net_ft_sensor
+aegis_description.modules.ur_definition *-- ur_description
+aegis_description.modules.ur_definition *-- ur_robot_driver
+aegis_description.modules.ur_definition o-- aegis_control.initial_positions
+
+hide members
+show << urdf.xacro >> fields
+@enduml
+```