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HAROS Tutorials

This is a repository with example code to try out the various features of the HAROS framework.

Hands-on videos following the instructions and exercises in this repository are available on YouTube.

What Is In The Box

This repository contains ROS packages that serve no particular purpose, other than to try out HAROS.

The minimal_example package is a minimal ROS package composed of two nodes with a ROS publisher, a ROS subscriber, a ROS service server, a ROS service client and a ROS parameter.

The fictibot_* packages make up a fictitious mobile robot system, called Fictibot (see the docs). These packages provide software drivers for the mobile base, a random walker controller, a safety controller, a multiplexer to filter commands by priority, and message definitions. Despite being a fictitious robot, the system can be executed normally, using rosrun, or roslaunch with the various provided launch files.

In addition to the ROS packages, this repository also contains example project files for HAROS, scripts to help execute HAROS with the right arguments, and files to create a Docker image with HAROS.

Installing

Note: If you want to try HAROS with Docker, you need only clone this repository and follow the Docker instructions.

If you would rather follow a step by step installation, see the HAROS instructions to install HAROS, and the remainder of this section for the ROS packages in this repository. The Make HAROS Easy repository provides a number of convenience scripts that automate much of this process.

The first step is to ensure that you have a working catkin workspace. Depending on your setup, you might want to work with multiple workspaces, and create a new workspace for this tutorial. Let us call it haros_ws.

Clone this repository into the source space of this workspace, by default src.

cd haros_ws/src
git clone https://github.com/git-afsantos/haros_tutorials.git

Simply build the packages with catkin_make, and you are ready to use the packages in a ROS environment.

cd ..
catkin_make
source devel/setup.bash

To use these packages with HAROS and Clang, an additional step is required. You have to create a compile_commands.json file in the build directory of the workspace. You can do it either with catkin or with cmake.

cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCMAKE_CXX_COMPILER=/usr/bin/clang++-6.0 src

catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCMAKE_CXX_COMPILER=/usr/bin/clang++-6.0

Replace src in the first command with the source space of your workspace, if it is named differently. Replace /usr/bin/clang++-6.0 with the correct path to your clang++ version.

Note: it might be useful to turn this into a script and place it at the root of the workspace, so that you do not forget to update compile_commands.json when you build your ROS workspace.

#!/usr/bin/env bash
catkin_make --force-cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCMAKE_CXX_COMPILER=/usr/bin/clang++-6.0

Standalone Usage

To try out the ROS packages on their own, use any of the provided launch files. They set up different use scenarios, sometimes showcasing some ROS features and quirks that might not be well known.

A normal use case, using the Fictibot nodes:

roslaunch fictibot_launch safe_random_walker.launch

Two Fictibot systems at the same time:

roslaunch fictibot_launch dual_bots.launch

Some quirks with rosparam that might not be obvious from the documentation (read the launch file's comments as well):

roslaunch minimal_example test_rosparam.launch

Usage With HAROS

You can try out HAROS manually with any of the provided project files. Alternatively, feel free to use some pre-made scripts that test out different features.

scripts/minimal.sh runs model extraction on minimal_example and any available plugins.
scripts/fictibot.sh runs model extraction on various configurations of Fictibot and any available plugins.
scripts/queries.sh defines architectural queries for some configurations of Fictibot and executes haros_plugin_pyflwor.
scripts/hpl.sh defines HPL properties for the various Fictibot nodes and runs test generation with haros_plugin_pbt_gen.
scripts/perf.sh defines the ground truth of a Fictibot computation graph and evaluates the model extractor's accuracy with haros_plugin_model_ged.

Bugs, Questions and Support

Please use the issue tracker.

Contributing

See CONTRIBUTING.

Acknowledgment

Until March 2021, this work was financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme and by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia within project PTDC/CCI-INF/29583/2017 (POCI-01-0145-FEDER-029583).