rosmod / rosmod-actor

A Generic ROSMOD node that maps to an actor process, spawning ROSMOD component instances specified in a configuration file (JSON)

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

rosmod-actor's Issues

Node priority should not be initialized to -1 in the xmlParser

sorry, unimplemented: non-static data member initializers
error: ISO C++ forbids in-class initialization of non-const static member ‘node_priority’

Component destructor should be virtual.

Otherwise derived classes' constructors won't be called.

Logging configuration should be separated out into user logs and trace logs

So that trace / user logging can be enabled / disabled independently, and their logging units can be configured independently.

XML parser should be more generic to build the data structures on the fly if possible.

perhaps store everything as a std::map<string, string> and then in the relevant code that needs a different data type we do the conversion there.

This would allow us to extend what exists in the XML without having to update the node executable and issue a new release. First support would be for operation deadlines and timer periods.

Should load port property overrides from XML

Since the user can override in the deployment the Period, Deadline, Priority properties of ports, which will get propagated to the XML, the xmlParser, needs to read them in and store them.

Perhaps move configuration file to JSON from XML

Will be easier to serialize from server in the case we have mixed file+socket-based configuration, and will cost less in serialization.