RoboCLuedo – COMP – UML Components Diagram

The UML components diagram of the overall architecture

RoboCLuedo – UML – Components

Here is the UML components diagram of this project, a little different from the standard ROS convention. Please take into account that:

• the "black ball" represents the usage of a channel, whereas the "circular sockek" represents the exposed channel. For example, about ROS services, the black ball indicates a client, and the socket represents the server.
• each connection is labeled, and each label tells which kind of channel is represented (Topic, Service) and the type of essage exchanged through that channel.