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 uses ROS as a backend, i.e., each node and communication channels are dynamically setup by ROS.

Radler can generate executable code for SROS2 with the intent that a significant part of the RADL specification and user code will stay the same or at least similar. The adoption of ROS2 is critical to the security properties of both communication channel and resource isolation without the need of master node. Radler codebase has been updated to be compatible with recent ROS2 releases https://github.com/SRI-CSL/radler/tree/ros2.

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 18.04:

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

To install ROS:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-melodic-ros-base
(echo ; echo "# Setup for ROS" ; echo "source /opt/ros/melodic/setup.bash" ) >> ~/.bashrc
source ~/.bashrc

To compile and run

Compile

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

mkdir -p /tmp/catkin_ws/src
./radler.sh --ws_dir /tmp/catkin_ws/src compile examples/pubsub/single_machine/pubsub.radl --plant plant --ROS
cd /tmp/catkin_ws
catkin_make

Run

Since pubsub defines a plant, Radler has generated a launch file to run the requested nodes. The simplest way of running it is to source the catkin workspace we just compiled and use `roslaunch`:

source devel/setup.bash
roslaunch pubsub pubsub.plant.host_computer.launch

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.