behaviors.dot

# dot -Tpdf architecture.dot -o architecture.pdf
digraph G {
  ratio="fill";
  size="8.3,11.7!";

  subgraph cluster_0 {
    label="mgt";
    node [shape=box, style=filled, fillcolor=lightblue, color=black];
    EXECUTIVE;
  }
  subgraph cluster_1 {
    label="proc";
    node [shape=box, style=filled, fillcolor=lightblue, color=black];
    DOCK;
    PERCH;
    ARM;
    node [shape=ellipse, style=filled, fillcolor=gold, color=black];
    PerchAction [label="/proc/perch\nff_msgs::PerchAction"];
    DockAction [label="/proc/dock\nff_msgs::DockAction"];
    ArmAction [label="/proc/arm\nff_msgs::ArmAction"];
    node [shape=ellipse, style=filled, fillcolor=aquamarine, color=black];
    PerchState [label="/proc/perch/state\nff_msgs::PerchState", style=dashed];
    DockState [label="/proc/dock/state\nff_msgs::DockState", style=dashed];
    ArmState [label="/proc/arm/state\nff_msgs::ArmState", style=dashed];
  }
  subgraph cluster_2 {
    label="mob";
    node [shape=box, style=filled, fillcolor=lightblue, color=black];
    CHOREOGRAPHER;
    node [shape=ellipse, style=filled, fillcolor=gold, color=black];
    MotionAction [label="/mob/motion\nff_msgs::MotionAction"];
    node [shape=ellipse, style=filled, fillcolor=aquamarine, color=black];
    MotionState [label="/mob/motion/state\nff_msgs::MotionState", style=dashed];
  }
  subgraph cluster_3 {
    label="loc";
    node [shape=box, style=filled, fillcolor=lightblue, color=black];
    LOCALIZATION_MANAGER;
    node [shape=ellipse, style=filled, fillcolor=gold, color=black];
    SwitchAction [label="/loc/switch\nff_msgs::SwitchAction"];
  }
  subgraph cluster_4 {
    label="gnc";
    node [shape=box, style=filled, fillcolor=lightblue, color=black];
    CTL;
    FAM;
    EKF;
    node [shape=ellipse, style=filled, fillcolor=gold, color=black];
    ControlAction [label="/gnc/control\nff_msgs::ControlAction"];
    node [shape=ellipse, style=filled, fillcolor=lightpink, color=black];
    EkfSetInput [label="/gnc/ekf/set_input\nff_msgs::SetEkfInput"];
    node [shape=ellipse, style=filled, fillcolor=aquamarine, color=black];
    EkfState [label="/gnc/ekf\nff_msgs::EkfState"];
    PoseStamped [label="/gnc/pose\ngeometry_msgs::PoseStamped"];
    TwistStamped [label="/gnc/twist\ngeometry_msgs::TwistStamped"];
    WrenchStamped [label="/gnc/wrench\ngeometry_msgs::WrenchStamped"];
    InertiaStamped [label="/gnc/inertia\ngeometry_msgs::InertiaStamped", style=dashed];
    SpeedGain [label="/gnc/speed\nff_msgs::SpeedGain", style=dashed];
  }
  subgraph cluster_5 {
    label="drv";
    node [shape=box, style=filled, fillcolor=lightblue, color=black];
    PERCHING_ARM;
    PMC_ACTUATOR;
    node [shape=ellipse, style=filled, fillcolor=aquamarine, color=black];
    PmcTelemetry [label="/hw/pmc/telemetry\nff_hw_msgs::PmcTelemetry"];
    PmcState [label="/hw/pmc/state\nff_hw_msgs::PmcState", style=dashed];
    PmcCommand [label="/hw/pmc/command\nff_hw_msgs::PmcCommand"];
    node [shape=ellipse, style=filled, fillcolor=aquamarine, color=black];
    JointStates [label="/joint_states\nsensor_msgs::JointState"];
    JointGoals [label="/joint_goals\nsensor_msgs::JointState"];
  }

  # Relationships
  EXECUTIVE -> MotionAction  [dir="both"];
  EXECUTIVE -> DockAction  [dir="both"];
  EXECUTIVE -> PerchAction  [dir="both"];
  EXECUTIVE -> ArmAction  [dir="both"];
  EXECUTIVE -> InertiaStamped;
  InertiaStamped -> FAM;
  InertiaStamped -> CTL;
  InertiaStamped -> EKF;

  DockAction -> DOCK  [dir="both"];
  PerchAction -> PERCH  [dir="both"];
  DOCK -> SwitchAction  [dir="both"];
  PERCH -> SwitchAction  [dir="both"];
  SwitchAction -> LOCALIZATION_MANAGER  [dir="both"];
  LOCALIZATION_MANAGER -> EkfSetInput;
  EkfSetInput -> EKF;
  DOCK -> MotionAction  [dir="both"];
  PERCH -> MotionAction  [dir="both"];
  PERCH -> ArmAction  [dir="both"];
  MotionAction -> CHOREOGRAPHER  [dir="both"];
  CHOREOGRAPHER -> ControlAction  [dir="both"];
  CHOREOGRAPHER -> SpeedGain;
  SpeedGain -> EKF;
  SpeedGain -> FAM;
  ControlAction -> CTL  [dir="both"];
  CTL -> WrenchStamped;
  PmcCommand -> PMC_ACTUATOR;
  PMC_ACTUATOR -> PmcTelemetry;
  PMC_ACTUATOR -> PmcState;
  PmcTelemetry -> CTL;
  PmcState -> CHOREOGRAPHER;
  ArmAction -> ARM  [dir="both"];
  WrenchStamped -> FAM;
  FAM -> PmcCommand;
  ARM -> JointGoals;
  EKF -> PoseStamped;
  EKF -> TwistStamped;
  EKF -> EkfState;
  TwistStamped -> CTL;
  PoseStamped -> CTL;
  JointStates -> ARM;
  JointGoals -> PERCHING_ARM;
  PERCHING_ARM -> JointStates;
  PERCH -> PerchState;
  DOCK -> DockState;
  ARM -> ArmState;
  CHOREOGRAPHER -> MotionState;
  PerchState -> EXECUTIVE;
  DockState -> EXECUTIVE;
  ArmState -> EXECUTIVE;
  MotionState -> EXECUTIVE;
}