From b8f4b59b1a986631c90bd3a2621577b4e8f793c7 Mon Sep 17 00:00:00 2001 From: ipa-nhg Date: Mon, 13 Nov 2023 11:11:52 +0100 Subject: [PATCH] [Documentation] Update ros1 and ros2 model description --- README.md | 8 +- docu/IntrospectionNode.md | 26 ++-- docu/NewRosModel.md | 12 +- docu/RosModelDescription.md | 192 ++++++++++++++++++++++++- docu/images/RosModelAutocomplete.gif | Bin 0 -> 495271 bytes docu/images/RosModelEmbededChecker.gif | Bin 0 -> 453491 bytes 6 files changed, 214 insertions(+), 24 deletions(-) create mode 100644 docu/images/RosModelAutocomplete.gif create mode 100644 docu/images/RosModelEmbededChecker.gif diff --git a/README.md b/README.md index 87f44d0d0..c57ba7937 100644 --- a/README.md +++ b/README.md @@ -40,14 +40,14 @@ Publications: - [(Only for tooling developers) From Source code in eclipse](docu/Installation.md#option-2-using-the-eclipse-installer---source-installation-ros-tooling-developers) - VS Code plugin(tbd) - WIP [vscode-RosTooling](https://github.com/ipa320/vscode-RosTooling) -## Tutorials +## Tutorials v3 - Create component models: - (Prerequisite) [Add communication objects](docu/NewCommunicationObjects.md) - - [Create a ROS model from your source code(static code analyzer)](docu/NewRosModel.md) + - [Create manually a new ROS component description](docu/RosModelDescription.md) + - [Generation of code from models](https://github.com/CoreSenseEU/rossdl#usage) - [Create a ROS model from a deployed robot using our introspection at runtime tool](docu/IntrospectionNode.md) - - [Create new ROS component description](docu/RosModelDescription.md) - - [Generation of code from models](docu/CodeGeneration.md) + - [Create a ROS model from your source code(static code analyzer)](docu/NewRosModel.md)) - Combine components to form a ROS System - [Create manually a new RosSystem description](docu/RosSystemModelDescription.md) diff --git a/docu/IntrospectionNode.md b/docu/IntrospectionNode.md index 5655a068d..1fbeb9a11 100644 --- a/docu/IntrospectionNode.md +++ b/docu/IntrospectionNode.md @@ -1,4 +1,4 @@ -## Create a ROS model from a deployed robot using our introspection at runtime tool +## Create a ROS model from a deployed robot using our introspection at runtime tool (for ROS 2 systems) Please be sure that the tool is installed and your workspace setup, see the [installation guide](../README.md) for further details. @@ -7,19 +7,23 @@ The tools documented here were conceived as a simple way to obtain models of sys You can install the tools directly on your workspace using the following command: ``` -mkdir -p my_catkin_ws/src -cd my_catkin_ws/src -catkin_init_workspace -rosinstall . https://raw.githubusercontent.com/ipa320/ros-model/master/docu/introspection.rosinstall -cd my_catkin_ws -catkin_make (or catkin build) +cd YourRos2WS/src +git clone git@github.com:ipa-nhg/ros2model.git +cd YourRos2WS +colcon build ``` -To start the monitoring software the snapshot node has to be started on the same machine where the software to be analysed is running: +To ask the monitoring module to capture all the nodes running on the system, please use the following command: ``` -source my_catkin_ws/devel/setup.bash -rosrun rosgraph_monitor rossystem_snapshot +ros2 model running_node -ga -d ~/PathToModelsFolderOutput ``` -This script will generate automatically a new file (.rossystem) under the folder: 'rosgraph_monitor/results'. +The folder **PathToModelsFolderOutput** will contain all the model files. + +For a single node, the following command can be called: +``` +ros2 model running_node [-o Outputfile] +``` + +For further information please check the [ros2model](https://github.com/ipa-cmh/ros2model) repository. diff --git a/docu/NewRosModel.md b/docu/NewRosModel.md index 8e09322af..5cfbb93c7 100644 --- a/docu/NewRosModel.md +++ b/docu/NewRosModel.md @@ -1,18 +1,14 @@ +:bangbang::bangbang::bangbang::bangbang: This tutorial is only working for previous versions of the RosTooling (v2) + + ## Create a ROS model from your code Please be sure that the tool is installed and your workspace setup, see the [installation guide](../README.md) for further details. -To extract your model from ROS code ou have 3 options: -- [Use the available web interface to autogenerate models from code hosted on GitHub](#cloud) +To extract your model from ROS code ou have 2 options: - [Call our docker container configuration for the extraction from a GitHub hosted repository (requires only the installation of Docker)](#docker-container) - [Use a local build of your ROS package (requires the local installation of HAROS)](#local-ros-workspace) -### Cloud - -Under the link [Model extractor](http://ros-model.seronet-project.de/) a web service to extract automatically models from existing open source ROS packages is available. The user only has to give as input the URL address of the repository (for example https://github.com/ipa320/cob_driver), the name of the package that contains the node to be analysed (for example cob_sick_s300) and the name of th node ( for example cob_sick_s300). The resulted model will be displayed on the right side of the window. - -![alt text](images/cob_sick_s300_cloud.png) - ### Docker container Clone the repository [ros-model-extractors](https://github.com/ipa320/ros-model-extractors) and follow its [documentation instructions](https://github.com/ipa320/ros-model-extractors#ros-model-extractors). diff --git a/docu/RosModelDescription.md b/docu/RosModelDescription.md index c1f6417b2..eaf00ffb1 100644 --- a/docu/RosModelDescription.md +++ b/docu/RosModelDescription.md @@ -1 +1,191 @@ -## TBD +# HOW TO DESCRIBE ROS NODES USING THE LANGUAGE + + + +Component models have two types of extensions, either .ros1 for ROS version 1 packages and .ros2 for ROS 2 packages. In both cases the language allows to describea pockage that contains ros nodes and their interfaces. +To create a new model, you can easily just create a new file with the correct extension. For example my_node.ros2. + +## ROS (1) + +In ros1 the grammar is as follows: +``` +my_awesome_pkg: #Name of the package + **fromGitRepo: ** "http://github.com/MyAccount/RepoName:BranchName" # Optional, Git reopsitory path that contains the source code + **artifacts:** + awesome: # Name of the artifact (as it is named in the CMakeLists) + **node:** awesome_node # Name of the node + **publishers:** # (Optional) List of publishers + awesome_pub: + **type:** "std_msgs/msg/Bool" + **subscribers:** # (Optional) List of subscribers + awesome_sub: + **type:** "std_msgs/msg/Bool" + **serviceclients:** # (Optional) List of service clients + awesome_client: + **type:** "std_srvs/srv/Empty" + **serviceservers:** # (Optional) List of service servers + awesome_server: + **type:** "std_srvs/srv/Empty" + **actionclients:** # (Optional) List of action clients + awesome_action: + **type:** "control_msgs/action/JointTrajectory" + **actionservers:** # (Optional) List of action servers + awesome_action: + **type:** "control_msgs/action/JointTrajectory" + **parameters:** # (Optional) List of parameters + awesome_param: + **type:** String + **default:** "Hello" +``` + + +The format is based the YAML file format. All the words marked in the template with '**' are keywords that compose the model, they can't be modified. + + +See the following model exmaple for the known teleop ROS package: + +``` +teleop: + artifacts: + teleop_twist_joy_node: + node: teleop_twist_joy_node + publishers: + cmd_vel: + type: "geometry_msgs/msg/Twist" + subscribers: + joy: + type:"sensor_msgs/msg/Joy" +``` + +## ROS 2 + +The ros2 grammar is as follows: +``` +my_awesome_pkg: + **fromGitRepo: ** "http://github.com/MyAccount/RepoName:BranchName" + **artifacts:** + awesome: + **node:** awesome_node + **publishers:** + awesome_pub: + **type:** "std_msgs/msg/Bool" + **qos:** + **depth:** 10 + **durability:** volatile + **history:** keep_all + **profile:** default_qos + **reliability:** best_effort + **subscribers:** + awesome_sub: + **type:** "std_msgs/msg/Bool" + **qos:** + **depth:** 10 + **durability:** transient_local + **history:** keep_last + **profile:** sensor_qos + **reliability:** reliable + **serviceclients:** + awesome_client: + **type:** "std_srvs/srv/Empty" + **qos:** + **depth:** 10 + **durability:** volatile + **history:** keep_all + **profile:** services_qos + **reliability:** best_effort + **serviceservers:** + awesome_server: + **type:** "std_srvs/srv/Empty" + **qos:** + **depth:** 10 + **durability:** volatile + **history:** keep_all + **profile:** services_qos + **reliability:** best_effort + **actionclients:** + awesome_action: + **type:** "control_msgs/action/JointTrajectory" + **qos:** + **depth:** 10 + **durability:** volatile + **history:** keep_all + **profile:** default_qos + **reliability:** best_effort + **actionservers:** + awesome_action: + **type:** "control_msgs/action/JointTrajectory" + **qos:** + **depth:** 10 + **durability:** volatile + **history:** keep_all + **profile:** default_qos + **reliability:** best_effort + **parameters:** + awesome_param: + **type:** String + **default:** "Hello" + **qos:** + **depth:** 10 + **durability:** volatile + **history:** keep_all + **profile:** parameter_qos + **reliability:** best_effort +``` + +The only remarkable difference with the ROS 1 model is that the quality of service can be defined for all the different interfaces. The quality of service atrributes are optional and they allow the following options: + +- depth : it must be an integer. +- durability: volatile / transient_local +- history: keep_all / keep_last +- profile: default_qos / sensor_qos / services_qos/ parameter_qos +- reliability: best_effort / reliable + + +See the following example for the [arucos_ros](https://github.com/pal-robotics/aruco_ros) driver: + +``` +aruco_ros: + fromGitRepo: "https://github.com/pal-robotics/aruco_ros.git:humble-devel" + artifacts: + marker_publisher: + node: marker_publisher + subscribers: + image_raw: + type: "sensor_msgs/msg/Image" + publishers: + debug: + type: "sensor_msgs/msg/Image" + markers: + type: "aruco_msgs/msg/MarkerArray" + markers_list: + type: "std_msgs/msg/UInt32MultiArray" + result: + type: "sensor_msgs/msg/Image" + parameters: + camera_frame: + type: String + image_is_rectified: + type: Boolean + marker_size: + type: Double + reference_frame: + type: String + raw_image_topic: + type: String + use_camera_info: + type: Boolean + use_sim_time: + type: Boolean + camera_info_topic: + type: String +``` + +## Textual model editor + +The textual editor contains checker embedded, for example: + +![alt text](images/RosModelEmbededChecker.gif) + +It incorporates also the auto-complete function. 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