ROS package that provides nodes for setting up a distributed simulation environment for Functional Mockup Units

To install the python_test package, just copy the python_test folder into your catkin workspace.

You might need to call

catkin_make

• python_test
  • data_rotative_driver
    • FmuRotativDriver.fmu
    • Node_Configuration_Rotative_Driver.txt
  • data_turn_table
    • Controller.fmu
    • Electromechanic.fmu
    • Node_Configuration_Controller.txt (for distributed turntable)
    • Node_Configuration_Electromechanic.txt (for distributed turntable)
    • Node_Configuration_Turn_Table.txt (both fmus on a single node)
  • include
  • scripts (python scripts)
    • static (css and js files for flask)
    • templates (html files for flask)
    • flask_server.py
    • fmu_simulation.py (deprecated)
    • multi_fmu_simulation.py
  • src
  • srv (Service definitions for ROS)
    • get_node_info.srv
    • set_configuration.srv
  • CMakeLists.txt
  • package.xml
  • README.md

First, open up a terminal and navigate to your project workspace (ex. catkin_workspace). There you should have access to a folder called "devel". You need to write

source devel/setup.bash

in order to setup the terminal for the current ROS workspace. We can then start the flask server with

rosrun python_test flask_server.py

Right now, the flask server does not handle killing via ctrl+c signals (TODO: This can be implemented!). Therefor you need to use the ctrl+z to stop the process and then use kill -9 <flask_server_process_id> to kill the process. Otherwise you can also use kill -9 %n where n is the number which is given each stopped process and is printed on the terminal after you pressed ctrl+z.

For the simulation nodes, we need to open a terminal and first set it up with the ROS Workspace by using

source devel/setup.bash

The nodes are started using

rosrun python_test multi_fmu_simulation.py

Now you should be able to see a running node on the dashboard which is accessed via you browser at

http://127.0.0.1:5000/