Ecosystem components

The GoMyRobot-specific components that implement, protect, and validate the partition contract alongside the rest of the ROS 2 ecosystem.

• GoMyRobotRT
  • Overview and responsibilities
  • ROS 2 Rolling integration
    • rcl / rclcpp / rclpy client libraries
    • Executors
    • Publishers, subscriptions, services, actions, parameters
    • QoS
    • Middleware / RMW, DDS
    • Graph and lifecycle
  • Deterministic execution
  • Hardware abstraction and health monitoring
  • Flight workload integration
• ROS 2 (Rolling) as the workload reference
  • The position
  • The reference: ROS 2 Rolling, exclusively
  • What this documentation does not do
  • When GoMyRobotRT behavior differs from ROS 2
  • Linking rule
• GoMyRobotBSP
  • Inputs and outputs
  • Yocto’s role
  • Relationship to GoMyRobotOS
• GoMyRobotGuard
  • Architecture
  • Division of labor with GoMyRobotOS
  • Independence staging
  • HPSC: hardware independence
• GoMyRobotFault
  • Fault classes
  • Radiation belongs here, not in GoMyRobotOS
  • Ladder from model to physics
• GoMyRobotBench
  • Division of labor with GoMyRobotOS
  • Where Bench shows up in the plan
  • Bench does not redefine platform behavior
• GoMyRobotVerify
  • The flow
  • What GoMyRobotVerify owns
  • What GoMyRobotOS contributes to verification
  • Boundaries
• GoMyRobotAssure
  • The role
  • Why the boundary exists
  • The research hook: assurance portability