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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's Projects

actionlib

Provides a standardized interface for interfacing with preemptable tasks. Examples of this include moving the base to a target location, performing a laser scan and returning the resulting point cloud, detecting the handle of a door, etc.

airsim

Open source simulator based on Unreal Engine for autonomous vehicles from Microsoft AI & Research

browsix

Browsix is a Unix-like operating system for the browser.

gdbgui

Browser-based frontend to gdb (gnu debugger). Add breakpoints, view the stack, visualize data structures, and more in C, C++, Go, Rust, and Fortran. Run gdbgui from the terminal and a new tab will open in your browser.

image-bbb

Instructions for making a new image for the BBB that is compatible with ROSMOD and contains useful programs

lib-aruco

ArUco library used for payload detection in the VADL AGSE project

lib-bbbeqep

eQEP (Enhanced Quadrature Encoder Pulse) library for Beaglebone Black revision C

lib-bbbgpio

GPIO C++ (Catkin Package) Library for Beaglebone Black revision C

lib-dynamixel

ROS Catkin Package for Dynamixel AX-12A Servo Motors

lib-gridlabd

Interface library for controlling Gridlab-D Simulations

lib-objecttracker

Object Tracker Library for the VADL AGSE project

lib-pid

simple pid class

lib-pnp2

PNP2 (Precise Network Performance Prediction) library which enables network traffic generation and reception following the semantics of PNP2 profiles.

lib-serial

Serial Port library for sending and receiving data.

lib-sumo

SUMO (Simulation of Urban Mobility) simulator interface using C++ TRACI bindings.

lib-traindirector

Interface library for controlling simulation with Train Director

lib-vectornav

vn100 library

nEXT - Be Productive.

openmct-tutorial

A tutorial for OpenMCT that guides you through integrating historical and realtime telemetry.

plotter

NodeJS plotter for rosmod logs.

presentations

Collection of presentations about and related to ROSMOD

rcps-control

Server for monitoring and managing the nodes of the RCPS cluster

robotics_cape_installer

Robotics Cape Library for BeagleBone

ros_comm

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

rosmct

Development of an openmct system for telemetry of ros systems

rosmod

This repository contains ROSMOD GUI v0.3, the ROSMOD component model and test samples

rosmod-actor

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