Try out JausToolset and write a research doc for deciding whether to IOP

[oswinso]

We need to decide whether or not we want to do IOP or not before the end of the semester, which relies on whether or not it is worthwhile.

AC: Try out JausToolset and write a research doc detailing what the experience is like using the library, and thoughts on whether we should do IOP or not.

[oswinso]

Alright, so thankfully some German dudes have some ROS-JAUS integration stuff that looks promising, so I've been looking into that. However, in the few hours that I've been playing around with they're stuff, so far things have been looking like a pile of mess. I'm still digging around to understand the exact flow of how things work, but it seems like they've already done most of the hard work of setting up all the interfaces. The only things that I still need to do are:

• Figure out how all the different things they've defined go together
• Find out a way to test and make sure that it's actually working (Probably gotta learn wireshark and possibly write a tool lmao, maybe it'll be an issue for someone to do)
• Create a simple "plugin" (as they've called it) using their framework

[oswinso]

The JAUS modules that we will need to use:

• Transport
• Events
• AccessControl
• Liveness
• Discovery
• Management
• Local Waypoint Driver
• Local Waypoint List Driver
• Local Pose Sensor
• PrimitiveDriver
• Velocity State Sensor
• Remote Control Interoperability

The ones that fkie already implements:

• Transport
• Events
• AccessControl
• Liveness
• Discovery
• Management
• Local Pose Sensor
• PrimitiveDriver
• Velocity State Sensor

So, the only work we really need to do:

• Implement Local Waypoint Driver, Local Waypoint List Driver and Remote Control Interoperability
• Write our own Conformance Verification Tool (Because to get access to the official one you need to do military things or be a contractor for military things).
  • Thankfully, there's this thread, so it seems like doing this is not that bad of a job. We just need to make use of wireshark, so maybe if an ambitious new member wants to take this on (even though it seems kind of boring ngl) then it's doable.