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Radler framework takes its inspiration from the Robot Operating System (ROS). In Radler framework, the sensors, controllers, and actuators are constructed from functional units called nodes. Each node executes independently with a period determined by a local clock and scheduling constraints. Radler supports a publish/subscribe architecture where nodes communicate by publishing on certain topics and subscribing to other topics.

Radler can generate executable code for both ROS1 and SROS2 with the intent that a significant part of the RADL specification and user code will remain the same or at least similar. The adoption of ROS2 is critical to the security properties of both communication channels and resource isolation, eliminating the need for a master node. The Radler codebase has been updated to be compatible with ROS1 on the master branch and ROS2 on the ros2 branch of the Radler repository at https://github.com/SRI-CSL/radler.

Getting Started

Find the documentation at https://sri-csl.github.io/radler/

To install

To checkout repository:

git clone https://github.com/SRI-CSL/radler.git
cd radler
git submodule update --init --recursive

To get Radler working on a clean version of Ubuntu 20.04:

sudo apt-get install cmake python3-pip
sudo pip3 install tarjan pyyaml pydot

To install ROS2 Foxy, follow the instructions from https://docs.ros.org/en/foxy/Installation.html

To install colcon, follow the instructions from https://colcon.readthedocs.io/en/released/user/installation.html

Sample Vagrantfile is available from https://github.com/SRI-CSL/radler/blob/ros2/examples/ardupilot/vagrant/Vagrantfile

To compile and run

Compile

Radler generates files from the RADL file into a usual ROS2 structure, then a call to colcon build will generate the executables as usual. (e.g., see examples/pubsub/pubsub.radl):

mkdir -p /tmp/ros2_ws/src
./radler.sh --ws_dir /tmp/ros2_ws/src compile examples/pubsub/single_machine/pubsub.radl --plant plant --ROS
cd /tmp/ros2_ws
colcon build

Run

The simplest way of running it is to source the ros2 workspace we just compiled and invoke it by name directly:

source install/local_setup.bash
./install/pubsub/bin/listener
./install/pubsub/bin/talker

You should see the output of the two nodes explaining that they are communicating. For more details see pubsub example documentation.

You can stop everything by typing Ctrl-C.