diff --git a/README.md b/README.md index 76e79d468b75bc1d367d4b5a67c700d9ef76bb56..fb464b3ff7eb326d0e0f05796c02ca09c88d2f12 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ # SPRING Architecture This repository contains high-level documentation of the H2020 SPRING -architecture. +architecture, as well as mock ROS nodes for all the architecture modules.  @@ -9,5 +9,43 @@ The [architecture.json](architecture.json) file contains the details of the nodes and interfaces in `json` format, and can be visualised with [the SPRING branch of Boxology](https://github.com/severin-lemaignan/boxology/tree/spring). You can [download a binary for Linux here](https://github.com/severin-lemaignan/boxology/releases), or compile it yourself. Note that Boxology tends to crash often! Ctrl+S is your friend! +## Running the mock nodes +### Using Docker +Launch the full SPRING architecture with: + +``` +docker run -it --network=host registry.gitlab.inria.fr/spring/dockers/spring-base roslaunch springarchitecture start_all.launch +``` + +This will start all the nodes visible in the architecture diagram above, either +the mock ones (if the node prefixed by `MOCK` in the diagram), or the actual +ones. + +The ROS nodes are visible from the host system as well. For instnace, in a different terminal, try: + +``` +rostopic list +``` + +Replace `start_all.launch` by eg `start_all_INRIA.launch` to start all the +SPRING nodes *except* eg INRIA's ones (replace INRIA by your institution). This +makes it easy to test your own nodes while running the code of the partners 'as +it'. + +### Compile manually + +[spring-mock-ws](spring-mock-ws) is a regular `catkin` workspace that contains +all the mocked-up nodes, and a script to fetch the released ones. + +To build it: + +``` +cd spring-mock-ws +sh ./fetch_released_nodes.sh # this requires SSH access to gitlab.inria.fr +catkin build +source devel/setup.bash +``` + +You should then have all the SPRING nodes ready to be used.