Software

RoboGraph (Robotics Graphical Planner)

Most of the mobile robot control frameworks are based on a middleware layer with several independent modules that implement primitive actions and report events about their state. These modules are usually connected with different inter-process communication mechanisms. RoboGraph uses hierarchical interpreted binary Petri nets to coordinate the activity of these modules. Tasks are described using an interpreted Petri net editor and saved in an xml file. A dispatcher loads these files and executes the different Petri nets under user requests. A monitor that shows the state of all the running nets has proven to be very useful for debugging and tracing purposes.
We provided RoboGraph with three different middleware communication interfaces:

JIPC
ROS 1 using jros1Client. Tested for noetic distribution.
ROS 2 using jros2Client. Tested in humble distribution.

RoboGraph for JIPC

This version of RoboGraph allows the control of modules connected using JIPC.

Requirements
Java 9+
Download
You can download the latest version here
Install
To install RoboGraph for JIPC you should:
- Create the workspace directory (example ~/rg_jipc_ws)
- Uncompress the downloaded file in the workspace directory
- Add the class directory (example ~/rg_jipc_ws/DGP/class) to the CLASSPATH evironmet variable
- Define the workspace directory. This directory can be set in two different ways:
  - 1.- Passed by parameter when starting the applicacion (-w ~/rg_jipc_ws/DGP/)
  - 2.- Setting the environment variable DGP_PATH (for example, in bash will be: "export DGP_PATH=$HOME/rg_jipc_ws/DGP/")
That should install JIPC also.
Running
After installing the system as described in the previous section, you will be able to program JIPC modules using the libray JIPC-1.0.jar as described in the JIPC section. Besides, you should be able to use the scripts available in the bin directory (In our example~/jipc_ws/DGP/bin) to execute the JIPC central server and the RoboGraph dispatch and GUI:
- jcentral that is the central node that controls all connections:
  .../RG/bin$ ./jcentral
- RoboGraph dispatch to run tasks (petri nets):
  .../RG/bin$ ./jipcRGDispatch -w ~/rg_jipc_ws/DGP/ -m ~/rg_jipc_ws/DGP/bin/modulesJIPC
- RobGraph GUI to edit tasks and monitor their execution.
  .../RG/bin$ ./jipcRGGui -w ~/rg_jipc_ws/DGP/ -m ~/rg_jipc_ws/DGP/bin/modulesJIPC
The modules file (modulesJIPC) can be changed to use the messages for your application. Check the source for the messages provided by default to define your own messages.
The idea is to program first the modules that control our system and connect them to JIPC using the JIPC-1.0.jar library. Then, program the tasks that coordinate the work of the different modules using RoboGraph GUI. Finally, run all the system:
1. jcentral
  .../RG/bin$ ./jcentral
2. modules that need to be connected to JIPC
  .../RG/bin$ [ that depends on the application modules]
3. RoboGraph dispatch to run tasks (petri nets):
  .../RG/bin$ ./jipcRGDispatch -w ~/rg_jipc_ws/DGP/ -m ~/rg_jipc_ws/DGP/bin/modulesJIPC
4. RobGraph GUI to monitor the execution (optional).
  .../RG/bin$ ./jipcRGGui -w ~/rg_jipc_ws/DGP/ -m ~/rg_jipc_ws/DGP/bin/modulesJIPC

Example
A wide variety of messages are included but more messages can be added. The source code of the messages provided can be a reference to create new messages. The packages where those messages are provided must be included in the modules file (see DGP/bin/modulesJIPC).
The tasks (petri nets) can be edited and executed in a similar way as described in the videos for the DGP section.

RoboGraph for ROS 1 (noetic)

We are working in a new version for ROS1 but we are having problems with the java library to connect ROS1. This will be available as soon as those preblems are fixed or the library will be replaced.

RoboGraph for ROS 2 (humble)

We are working in a new version for ROS2 but we are having latency problems with the java library to connect ROS2 DDS. This will be available as soon as those preblems are fixed or the library will be replaced.