rosmod / robotics_cape_installer

Robotics Cape Library for BeagleBone

ROSMOD - Quick Start Guide

Clone Repository

$ git clone --recursive http://github.com/rosmod/rosmod

This Repository contains:

• ROSMOD GUI v0.3
• ROSMOD Component Model
• Test Samples

Dependencies

• Antlr Python2 Runtime 4.4.1
• Cheetah 2.4.4
• Fabric 1.10.1
• TermEmulator 1.0
• wxPython 2.8
• dtach

$ cd <REPOSITORY_HOME>/utils
$ sudo ./dependencies.py

ROSMOD GUI

$ cd <REPOSITORY_HOME>/gui
$ python __main__.py

• Add the following line to ~/.bashrc

alias rosmod='python ~/PATH_TO_REPOSITORY_HOME/gui/__main__.py'

ROSMOD Communication Layer

• The ROSMOD Communication Layer is a modified version of the ros_comm communication layer in ROS.
• ROSMOD introduces PFIFO and EDF-based scheduling schemes to the ROS callback queue.
• ROSMOD also facilitates deadline monitoring i.e. deadline violation detection and logging for all callbacks.

$ cd <REPOSITORY_HOME>/comm
$ catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/<ROS_VERSION> install