Commit 5871467b authored by Mathias Haage's avatar Mathias Haage
Browse files

Update README

parent 2b5d1b2b
......@@ -13,6 +13,7 @@ This package relies on a number of tools for installation.
```
java
maven
ros
```
For execution
......@@ -23,6 +24,7 @@ java
python
bash
dot (graphviz)
ros
```
......@@ -51,6 +53,13 @@ The software is partially packaged as a Java maven project. It therefore needs c
There should now be an automatically generated `~/dev/grafchart_utils/utils/target` folder containing a jar file `grafchart_utils-0.0.1-SNAPSHOT.jar`.
There is also software packaged as a ROS catkin workspace that needs compilation.
`cd ~/dev/grafchart_utils/ros/catkin_ws`
`catkin_make`
Configuration
-------------
......@@ -84,6 +93,11 @@ After updating the `setup.bash` file it can be sourced in the local shell to mak
Also, for the ROS part of the package, there is another *setup.bash* that need sourcing. The file is located in `~/dev/grafchart_utils/ros/catkin_ws/devel/setup.bash` after compilation.
`source ~/dev/grafchart_utils/ros/catkin_ws/devel/setup.bash`
Commands
--------
......@@ -151,42 +165,28 @@ where Output lines are written by the statemachine and *initial_result_1|yes* is
ROS node and bridge
ROS nodes and bridge
-------------------
All ROS software is available from the scripts folder `~/dev/grafchart_utils/ros/catkin_ws/src/grafchart/scripts`.
This repository contains utilities related to using the JGrafchart SFC editing
and execution software (http://www.control.lth.se/Research/tools/grafchart.html).
The scripts folder contains commands for the linux command line. The script
setup.bash should be edited and sourced to set up environment.
Compilation:
mvn package shade:shade
Usage:
The samples below depend on the work directory being the scripts folder, i.e.
The sfcgenerate command takes a comma-separated list of states as parameter and outputs a
state machine containing a sequence with each state.
`cd ~/dev/grafchart_utils/ros/catkin_ws/src/grafchart/scripts`
Example:
sfcgenerate a,b,c >test.xml
For most of the scripts to run correctly a *roscore* need to be started.
will print a state machine with states a, b, and c in sequence.
The state machine can be executed using:
jgrafchart -loadcommitstart <absolute path to>/test.xml
### testservice1.py and testservice2.py
Two testservices
The statemachine contains a socket server:
Can be started through
telnet localhost 4242
`rosrun grafchart testservice1.py`
Input|1
Input|2
Output|2
`rosrun grafchart testservice2.py`
Transitions listen to the Input variable. Entering states update the Output variable.
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