Shore-Middleware

This repository hosts modified ROS1 middleware for Shore.

Most of the modifications are in the ros_comm/roscpp/ folder. These modifications primarily involve:

1. Integrating additional logic into the vanilla scheduler.
2. Passing shoreline information to associate it with user-level tasks and kernel tasks."

This installation guided is tested on ubuntu 20.04.

Installation Guide

Prerequisite

Install the dependency packages

$ sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstools python3-vcstool build-essential

Initializing ROS dep

$ sudo rosdep init
$ rosdep update

Compilation

Create a directory for the ROS workspace

$ mkdir -p ~/ros_catkin_ws
$ cd ~/ros_catkin_ws

Clone the project and name it as src/. This is the naming convention of catkin workspace

$ git clone https://github.com/WUSTL-CSPL/Shore-Middleware src

Install all dependencies via rosdep

$ cd ~/ros_catkin_ws
$ rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y

Compiling the project

$ cd ~/ros_catkin_ws
$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_DEB_LAYOUT=OFF

To include ROS in your environment path

$ source ~/ros_catkin_ws/install_isolated/setup.bash

[optional] To make this automatic, put it into ~/.bashrc

$ echo "source ~/ros_catkin_ws/install_isolated/setup.bash" >> ~/.bashrc

Turn on/off Shore-related code

Turn on/off Shore-related scheduling

// In ros_comm/roscpp/include/ros/param.h
#define Shore_Sched

Turn on/off debugging logs

// In ros_comm/roscpp/include/ros/param.h
// #define Shore_Debug

Then recompile the project.

$ cd ~/ros_catkin_ws
$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release