Ros Model Parser

Technical Maintainer: ipa-nhg (Nadia Hammoudeh Garcia, Fraunhofer IPA) - nadia.hammoudeh.garcia@ipa.fraunhofer.de

This Ros package holds python interpreters for the ROS models created using the SeRoNet toolchain. These models (.ros and .rossystem extensions) can be used to describe ROS nodes, their interaction and the instantiation at runtime for further information please check the ROS model tutorials.

In addition, the Toolchain offers automatic extractors of the models from the original ROS code, on one hand with static code analyzers (based on HAROS) and on the other hand with introspectors at runtime.

For the static code analysis we made available a web interface able to inspect code hosted on Git and get its model representation as feedback http://ros-model.seronet-project.de/.

Install with ROS 2 (Humble or Rolling)

1. clone this repository into the source folder in your workspace, such as:

   ws/src/ros2model
   

2. Source ROS workspace

   Humble:

   source /opt/ros/humble/setup.bash
   

   Rolling:

   source /opt/ros/rolling/setup.bash
   

3. Back to the folder "ws", create and active venv

   python3 -m venv venv --system-site-packages --symlinks
   source venv/bin/activate
   

4. Install poetry and install dependencies run

   pip install poetry
   poetry install -C src/ros2model/
   

5. compile it as ROS package

   python -m colcon build --packages-select ros2model --symlink-install
   

   source install/local_setup.bash
   

6. config python path adjust the path to match the Python minor version in your virtual environment

   export PYTHONPATH=$PYTHONPATH:$(pwd)/venv/lib/$(python3 -c 'import sys; print(f"python{sys.version_info.major}.{sys.version_info.minor}")')/site-packages/
   

Run

Node models from a running system

Generate component models for each node discovered at runtime. Use --include-description if you need the robot_description parameter in the exported file and --from-launch to refine package/executable data with launch files.

ros2 model node -o test/nodes --include-description --from-launch my_pkg/bringup.launch.py

More options:

ros2 model node -h

System model from a running system

Capture a full .rossystem model. The --include-description and --from-launch flags work the same way as for node models.

ros2 model system -o test/turtlesim.rossystem --include-description --from-launch turtlesim_gazebo/launch/sim_launch.py

More options:

ros2 model system -h

Interface models from package definitions

Generate .ros models for topics, services, and actions declared in interface packages. Use --all to export every available package or pass -p <package> multiple times to target specific ones.

ros2 model msg --all -o test/interfaces
ros2 model msg -p std_msgs -p geometry_msgs -o test/interfaces

More options:

ros2 model msg -h