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doc:package:overview [2015/05/04 15:03] – gkazhoya | doc:package:overview [2021/05/02 20:56] (current) – gkazhoya | ||
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+ | **Disclaimer: | ||
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====== CRAM Software and Architecture Overview ====== | ====== CRAM Software and Architecture Overview ====== | ||
- | CRAM code is distributed over multiple Git repositories that can be mostly found under the [[https:// | + | For an overview of software of CRAM v0.2 take a look [[https:// |
+ | ===== Software ===== | ||
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+ | CRAM code is distributed over multiple Git repositories that can be mostly found under the [[https:// | ||
Below is a diagram showing the relations of different repositories, | Below is a diagram showing the relations of different repositories, | ||
+ | The diagram only shows the packages necessary for running CRAM in the simulation mode. In addition to those, there are packages for using it on physical systems, packages for logging the execution, interfaces to controllers, | ||
- | roslisp | + | Roslisp |
[[http:// | [[http:// | ||
- | {{ : | + | {{ : |
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+ | CRAM is to 90% written in Common Lisp and is packaged using ASDF and ROS. Some of the reasons why Common Lisp was chosen as the language for CRAM are listed [[why_lisp|here]]. More on packaging etc. you can read [[http:// | ||
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+ | ===== Architecture ===== | ||
+ | CRAM is designed in such a way that one can incrementally load packages for acquiring more complex functionality implementing the same interfaces. ....//the rest is todo...// |