tbot3_teleop.wyc

component TurtleBot3FakeNode
	val name: String
	port joint_states_pub: requires JointStateIface
	port odom_pub: requires OdometryIface
	port tf_pub: requires TFMessageIface
	port cmd_vel_sub: provides TwistIface

component RobotStatePublisher
	val name: String
	port tf_pub: requires TFMessageIface
	port tf_static_pub: requires TFMessageIface
	port joint_states_sub: provides JointStateIface

component TurtleBot3TeleopNode
	val name: String
	port cmd_vel_pub: requires TwistIface

connector ROS1Topic
	val name: String

connector ROS1Tf

architecture TurtleBot3Teleop
	components
		TurtleBot3FakeNode tbot
		RobotStatePublisher state
		TurtleBot3TeleopNode teleop

	connectors
		ROS1Topic cmd_vel, joint_states, odom
		ROS1Tf tf, tf_static

	attachments
		connect tbot.joint_states_pub and state.joint_states_sub with joint_states
		connect tbot.odom_pub with odom
		connect tbot.tf_pub and state.tf_pub with tf
		connect tbot.cmd_vel_sub and teleop.cmd_vel_pub with cmd_vel
		connect state.tf_static_pub with tf_static