RSA Manipulation Testbed Architecture and Documentation

This site contains documentation and system architecture diagrams for the RSA Task 2 Autonomous Manipulation Testbed.

The project has two major components: a suite of software and hardware research which collectively would run on an underwater robot (ROV Software) and a mechatronic Testbed which allows repeatable, controlled evaluation of that research.

Each of those components has its own section within the documentation:

Testbed Operation

• Testbed overview
• Software Installation
• Configuration
• Motor mapping
• Clearpath motor configuration
• ROS Controller configuration and tuning
• Running the testbed

Testbed Hardware

• Hardware
• Software
• Interfaces
• ROV Emulator

Software Architecture

• ROV Control System
• Testbed

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About this content

The architecture diagrams presented here are structured using the C4Model, and are stored in two formats: software diagrams are stored in the Structurizr DSL, and are converted to graphics using a combination of the structurizr CLI and the PlantUML renderer.

This website is written in Markdown in the Sphinx environment using the Read the Docs theme.

For further details on how to contribute to the documentation, see Gitlab