To create custom functionality, such as new sensors or functions on the robot, or a new type of data processing such witch custom object detection system, you will need to create your own component. This component can then be used in your SIC programs.
Creating a component requires the following steps
Choosing component type for your application (See flowchart)
Choosing inputs datatypes (See SIC standardized pre-defined messages)
Creating a new file following the templates (See https://bitbucket.org/socialroboticshub/framework/src/master/sic_framework/services/templates/)
Implement the appropriate methods.
Start the component (
python your_file.py)
At its core, any new component (exteding SICComponent) has to implement on_message and/or on_request. on_message allows the component to be linked to one another, and receive and send messages in a data stream. on_request allows it to handle requests and send an explicit reply to the device that requested it.
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Use this flowchart to help you determine which type of component class your component should extend:
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There
are Make sure to use predifined messages where possible to ensure interoperability between your component and others. See SIC standardized pre-defined messages, see X for an overview.