Bigraphs by Examples: Streaming Attributes (ROS2 to Ecore/XMI)

Software Stack

• Java >=17 + Maven >=3.8.7
• Spring 3.3.5
• Bigraph Framework 2.3.1
• BDSL 2.0.1
• CDO for Spring Data 0.7.5

Optional

• CDO Explorer: to view and modify the bigraph in the database
  1. Download CDO Explorer via the Eclipse Installer. Use Eclipse Version 2022-12 (4.26.0), which supports CDO protocol version 48. Eclipse IDE version 2023-09 supports only CDO protocol version 49.
  2. Any Eclipse IDE with CDO support, must support CDO protocol version 48

Architecture

Getting Started

ROS2

Start the rosbridge websocket server to allow for communication between ROS2 and Java

$ ros2 launch rosbridge_server rosbridge_websocket_launch.xml

Streaming Demo Application

You have two options:

Via the IDE (Eclipse, IntelliJ IDEA, Visual Code, ...)

• Run a method of src/test/java/org.example/CDOStandaloneServerTest.java in the test folder
• Run the class src/main/java/org/example/Application.java
• Wait until you see in the terminal: Application has successfully started ...

Via the Terminal

In the 1. Terminal:

$ ./mvnw test -DrunDisabledTests=true -Dtest="CDOStandaloneServerTest#run_server_test_01"

In the 2. Terminal:

$ ./mvnw spring-boot:run

Wait until you see in the terminal: Application has successfully started ...

Triggering the Rule

Publish messages on the ROS 2 topic:

# A sufficient low value
$ ros2 topic pub /echo std_msgs/Int16 "{data: 123}"

# A sufficient high value
$ ros2 topic pub /echo std_msgs/Int16 "{data: 2000}"

Screenshot