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ROS communications-related packages, including core client libraries (roscpp, rospy, roslisp) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).

Home Page: http://wiki.ros.org/ros_comm

CMake 1.74% C 1.78% C++ 43.09% Python 52.97% Shell 0.18% EmberScript 0.16% Objective-C 0.05% Batchfile 0.01% Makefile 0.03%

ros_comm's Introduction

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

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