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What exactly is an artifact in the .ros2 and .rossystem models? #64
Description
I'm very confused on what an artifact means. Is it the registered name for the node executable? Is it the node name?
For example, given the following .ros2 model:
ros_gz_bridge:
artifacts:
parameter_bridge:
node: /gz_pipe_pose_bridge
publishers:
'model/min_pipes_pipeline/pose':
type: 'geometry_msgs/msg/PoseArray'
qos:
# profile:
# history: UNKNOWN
# depth:
reliability: reliable
durability: volatile
subscribers:
'model/min_pipes_pipeline/pose':
type: 'geometry_msgs/msg/PoseArray'
In the .rossystem model the interfaces are generated as:
interfaces:
- "model/min_pipes_pipeline/pose": pub-> "parameter_bridge::model/min_pipes_pipeline/pose"
- "sub_model/min_pipes_pipeline/pose": sub-> "parameter_bridge::model/min_pipes_pipeline/pose"
Why is the interface name in the right hand side defined as "artifact::interface_name"? If the artifact is expected to be the executable name, this wouldn't disambiguate the interface names, right? for that, it should be "gz_pipe_pose_bridge::model/min_pipes_pipeline/pose", right?
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