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To create custom functionality, such as new sensors or , functions on the robot, or a new type of data processing such witch as a 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

1. Choosing a component type for your application (See flowchart below)

2. Choosing the input datatypes (See SIC standardized pre-defined messages)

3. Creating a new file following the templates (See https://bitbucket.org/socialroboticshub/framework/src/master/sic_framework/services/templates/)

4. Implement the appropriate methods.

5. Start the component (python your_file.py)

Also see: https://youtu.be/C_y42blplhs

At its core, any new component (exteding extending SICComponent) has to implement on_message and/or on_request. on_message allows the component components to be linked to one another, to send and receive and send messages in a data stream. on_request allows it a component to handle requests and send an explicit reply to the device that requested it.

class MyComponent(SICComponent):
    
    ... [other methods, see sic_framework/services/templates/]

    def on_request(self, request):
        # Do something
        
        reply = # Return a SICMessage response
        return reply

    def on_message(self, message):
        # Do something
        
        # Optional:
        output = # A SICMessage output of this service
        self.output_message(output) 

Three helpful subclass subclasses have been defined for common cases in robotics. For these components you only need to implement the execute() method.

...

Use this flowchart to help you determine which type of component class your component should extend:

...

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.