Ros Model

1. Describe a ROS node using Sirius
2. Create a ROS artifact project
3. Create a SeRoNet Gateway project for ROS

Describe a ROS node using Sirius

1.Import into a new Eclipse workspace the projects:

de.fraunhofer.ipa.ros
de.fraunhofer.ipa.ros.edit
de.fraunhofer.ipa.ros.editor
de.fraunhofer.ipa.ros.tests
de.fraunhofer.ipa.ros.sirius

2.Start a new eclipse application by either (de.fraunhofer.ipa.ros.sirius -> plugin.xml and click Launch an Eclipse application) or (right click de.fraunhofer.ipa.ros.sirius and click on Run As > Eclipse Application)

3.Create a new modeling project (Menu > File > New > Project > Sirius > Modeling Project)

4.Create a new ROS model to hold the description of your node (inside the new modeling project, click New > Other > Ros Model and choose Model Object as Artifact)

5.Create a new representation for your artifact (open the file representarions.aird with the aird editor, enable the representation component, select Artifact diagram and click New...)

Use the palette toolbar to add a new node, to configure your model use also the Properties view.

Create a ROS artifact project

1.Import into a new Eclipse workspace the projects:

de.fraunhofer.ipa.ros
de.fraunhofer.ipa.ros.edit
de.fraunhofer.ipa.ros.editor
de.fraunhofer.ipa.ros.tests
de.fraunhofer.ipa.ros.sirius
de.fraunhofer.ipa.ros.xtext
de.fraunhofer.ipa.ros.xtext.ide
de.fraunhofer.ipa.ros.xtext.ui
de.fraunhofer.ipa.rosartifact.xtext
de.fraunhofer.ipa.rosartifact.xtext.ide
de.fraunhofer.ipa.rosartifact.xtext.ui

2.Start a new eclipse application (de.fraunhofer.ipa.ros.editor -> plugin.xml and click Launch an Eclipse application)

3.Import the common communication objects project to the workspace of your application:

de.fraunhofer.ipa.ros.communication.objects

4.Create a new ROS artifact project (menu File > New > Other > ROS Artifact project)

Use the palette toolbar to add a new node, to configure your model use also the Properties view (if it is disabled go to Window > Show view > Other and choose Properties).

Create a SeRoNet Gateway project for ROS

1.Import into a new Eclipse workspace the projects:

de.fraunhofer.ipa.ros
de.fraunhofer.ipa.rosartifact.xtext
de.fraunhofer.ipa.rosartifact.xtext.ide
de.fraunhofer.ipa.rosartifact.xtext.ui
de.fraunhofer.ipa.ros.edit
de.fraunhofer.ipa.ros.editor
de.fraunhofer.ipa.ros.seronetgw
de.fraunhofer.ipa.ros.seronetgw.edit
de.fraunhofer.ipa.ros.seronetgw.editor
de.fraunhofer.ipa.ros.seronetgw.xtext
de.fraunhofer.ipa.ros.seronetgw.xtext.ide
de.fraunhofer.ipa.ros.seronetgw.xtext.ui
de.fraunhofer.ipa.ros.sirius
de.fraunhofer.ipa.ros.tests
de.fraunhofer.ipa.ros.xtext
de.fraunhofer.ipa.ros.xtext.ide
de.fraunhofer.ipa.ros.xtext.ui

2.Start a new eclipse application (de.fraunhofer.ipa.ros.editor -> plugin.xml and click Launch an Eclipse application)

3.Import the common communication objects project to the workspace of your application:

de.fraunhofer.ipa.ros.communication.objects

4.Create a new ROS-SeRoNet gateway project (menu File > New > Other > ROS-SeRoNet gateway Project)

5.Give a name to your project and press Next. A new dialog will be open asking for a ROS input model, press "Browse Workspace..." and select the ROS model for which you want to generate a gateway (extension ".rosartifact"). You can create a new one by Create a ROS artifact project step 3

6.Expand the tree of the resouce platform:/resource/YourProjectName/YourProjectName.rosgw and select Ros Gateway using the view Properties (if it is disabled go to Window > Show view > Other and Properties) you can chosse the interfaces of the input ROS model you want to make available to your SeRoNet system.

7.You can add more ROS input models by the option Load Resource.. in the "Right-click" menu of your resouce platform:/resource/YourProjectName/YourProjectName.rosgw