ROSMOD Communication Layer

• The ROSMOD Communication Layer is a modified version of the ros_comm communication layer in ROS.
• ROSMOD introduces PFIFO and EDF-based scheduling schemes to the ROS callback queue.
• ROSMOD also facilitates deadline monitoring i.e. deadline violation detection and logging for all callbacks.

Dependencies

Install these dependencies according to their install instructions.

• ROS
• Catkin Tools

Downloading

# clone
git clone https://github.com/rosmod/rosmod-comm
# enter repository
cd rosmod-comm

Configuration

# chown /opt for the user
sudo chown -R $USER /opt
# set rosmod to extend your ROS workspace
catkin config --extend /opt/ros/kinetic
# set the install location for rosmod (you can change this to be wherever you like)
catkin config -i /opt/rosmod
# configure rosmod to actually install
catkin config --install

Build and Install

# Remove any previous build files that may exist
catkin clean -b --yes
# build and install according to config
catkin build