modros / modelica_bridge

Package for connecting Modelica to ROS via tcp/ip sockets

modelica_bridge

Introduction

modelica_bridge is the ROS package complement of the Modelica package ROS_Bridge.

The purpose of modelica_bridge is to provide an interface between Modelica tools and ROS. This interface, or bridge, is accomplished by running tcp/ip sockets in a ROS node, and in an external C-function through Modelica (accomplished via ROS_Bridge).

Usage Summary

The modelica_bridge package consists of the node connecting ROS and Modelica, modbridge_node, and the message type modbridge_node publishes on, the ModComm.msg.

The package can take up to 256 inputs from the ROS controllers, and can send a maximum of 1024 characters over a character buffer to Modelica. It has two parameters: port_num and update_rate. Ensure that the port_num matches the value of the Modelica model's port number parameter.

For more detailed documentation and tutorials, see the ROS wiki.

modelica_bridge Development Summary

0.1.1 (2018-07-02)

• Fixes issues with documentation
• Fixes issue of CMakeLists.txt not having install targets
• Cleans up and resolves package.xml dependencies list

0.1.0 (2018-06-30)

• Indexed and released to ros-buildfarm using bloom
• Added wiki for modelica_bridge
• Added Doxygen documentation using rosdoc_lite

0.0.0 (2018-06-30)

• First full commit of the modelica_bridge package.
  • Previously known as modros

modelica_bridge's Issues

Add compatibility with FMI/FMU standards to modelica_bridge

Current thoughts are to assume the FMU has been prepped by JModelica, and then use Python scripts to directly interface with the model.

Create unit tests for the package, do pull request testing for releases

Manage size of the buffer arrays to prevent unexpected overflow issues

Add a mainpage to the docs