ROS2 ecosystem managing RFID events, heartbeats, system states, Raspberry Pi clusters.
passform2/
├── passform2_agent_backend/ # Zentraler Orchestrator (Hybrid)
│ ├── src/ # Modern Rust Core (Axum, rclrs, Tokio)
│ │ ├── managers/ # Asynchrone Logik (Agent-, Path-, Skill-Manager)
│ │ ├── ros/ # ROS 2 Jazzy Bridge (rclrs Client)
│ │ └── main.rs # API-Entrypoint & Task-Orchestrierung
│ ├── app/ # Legacy Python Backend (FastAPI)
│ ├── start__backend.sh # Launcher (Standard: Rust, --legacy: Python)
│ └── Cargo.toml # Rust Dependencies & Build-Config
├── passform2_agent_frontend/ # Web-3D-UI
│ ├── src/ # Frontend Logik
│ ├── index.html # 3D-Szenen Entrypoint
│ └── vite.config.js # Vite Build-System & Dev-Server
├── passform2_ws/ # Zentraler ROS 2 Workspace (Jazzy)
│ └── src/
│ ├── passform_agent_resources/ # Custom Messages & Services (SSoT)
│ └── ros2_rust/ # rclrs & Code-Generatoren Source-Build
├── data/ # Zentrale SSoT (Konfigurationen & JSON-Data)
├── deployment/ # Docker- & Hardware-Provisionierung (RPi 5)
├── utils/ # Administrative Shell-Scripts & Maintenance-Tools
└── Makefile # Globales Steuerungs-Tool (make install, make start-all)
Quickstart.
make install
Build build-ws.
make build-ws
Build backend.
make backend
(Build backend-legacy python).
make backend-legacy
Inspect backend (ROS system state).
http://127.0.0.1:8080/
Build agent.
ros2 topic pub -1 /agent_info passform_agent_resources/msg/AgentInfo "{agent_id: 'Robby-01', module_type: 'Y-Module', position: {x: 5, y: 2}, orientation: 90.0}"
Build test config
# Agent 1: Ranger (FTF)
ros2 topic pub -1 /agent_info passform_agent_resources/msg/AgentInfo "{agent_id: 'Ranger-01', module_type: 'ranger', position: {x: 3, y: 1}, orientation: 0.0}" & \
# Agent 2: UR5 Roboterarm
ros2 topic pub -1 /agent_info passform_agent_resources/msg/AgentInfo "{agent_id: 'UR5-Arm-01', module_type: 'ur5', position: {x: 4, y: 1}, orientation: 90.0}" & \
# Agent 3: Förderband
ros2 topic pub -1 /agent_info passform_agent_resources/msg/AgentInfo "{agent_id: 'Conv-01', module_type: 'conveyor', position: {x: 5, y: 1}, orientation: 0.0}" & \
# Agent 4: Y-Module
ros2 topic pub -1 /agent_info passform_agent_resources/msg/AgentInfo "{agent_id: 'Y-Mod-01', module_type: 'y-module', position: {x: 6, y: 1}, orientation: 180.0}" & \
# Agent 5: Zweiter Ranger
ros2 topic pub -1 /agent_info passform_agent_resources/msg/AgentInfo "{agent_id: 'Ranger-02', module_type: 'ranger', position: {x: 3, y: 2}, orientation: 0.0}" & \
# Agent 6: BaSyx Inventory/Speicher
ros2 topic pub -1 /agent_info passform_agent_resources/msg/AgentInfo "{agent_id: 'Store-01', module_type: 'bay', position: {x: 4, y: 2}, orientation: 0.0}" & \
# Agent 7: Weiterer Greifer/Zubehör
ros2 topic pub -1 /agent_info passform_agent_resources/msg/AgentInfo "{agent_id: 'Gripper-01', module_type: 'ur5__gripper', position: {x: 5, y: 2}, orientation: 270.0}" & \
# Agent 8: Der Human Operator
ros2 topic pub -1 /agent_info passform_agent_resources/msg/AgentInfo "{agent_id: 'Operator-Max', module_type: 'human_operator', position: {x: 6, y: 2}, orientation: 0.0}"
Inspect heartbeat(s).
ros2 topic echo /ymodule_broadcast
Inspect agent list.
http://127.0.0.1:8080/api/agents
Inspect bays.
http://127.0.0.1:8080/api/bays
Inspect inventory list.
http://127.0.0.1:8080/api/inventory
http://127.0.0.1:8080/api/inventory/basyx
Inspect basyx.
http://127.0.0.1:8080/basyx/
http://127.0.0.1:8080/basyx/aas/
http://127.0.0.1:8080/basyx/aas-api/
http://127.0.0.1:8080/basyx/shells
http://127.0.0.1:8080/basyx/shell-descriptors/
http://127.0.0.1:8080/basyx/shells/{id}/submodels
http://127.0.0.1:8080/aas-api/registry/shell-descriptors
http://127.0.0.1:8080/aas-api/server/shells
http://127.0.0.1:8080/basyx/description
Build frontend.
make frontend
Build styleguide.
elm-book src/View/Styleguide/Styleguide.elm --serve --port 8085
sudo apt update && sudo apt install nmap -y
cmd.exe /c "netsh wlan show interfaces" | grep -i " SSID"
powershell.exe -Command "netsh wlan show profile name='DEINE_SSID' key=clear" | grep -i "Inhalt"
# on laptop
cd ~/passform2
rsync -avz --delete \
--exclude '.git' \
--exclude '__pycache__' \
--exclude 'venv/' \
--exclude '.vscode/' \
~/passform2/ {USER}@{HOST_IP}:/home/{USER}/passform2/
# on pi
cd ~/passform2
docker compose up --build -d
sudo apt install -y spi-tools
hostname -I | awk '{print $1}'
netsh interface portproxy add v4tov4 listenport=8000 listenaddress=0.0.0.0 connectport=8000 connectaddress=127.0.0.1
python3 ~/passform2/utils/pi__rfid_bridge.py
(tbd.)
- passform2_agent_backend by llvm-cov: Coverage: 0%, 01.02.26
- passform2_agent_frontend by elm-coverage: Coverage: 26%, 01.02.26