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This package is part of ROS/IOP Bridge.

Builder Package - fkie_iop_builder

The fkie_iop_builder package is the base of the ROS/IOP-Bridge. It uses the JAUS Toolset (JTS) to generate the source code from JSIDL files. The JSIDL files describe the JAUS messages and the structure of the IOP/JAUS services. They are also located in this package. In general the JSIDL file can be stored in each plugin. But it is recommended to store these in this package.

To generate sources from JSIDL files the fkie_iop_builder extends CMakeLists.txt by three scripts: iop_init, iop_export_service and iop_code_generator. Each ROS/IOP plugin should include at least iop_init and iop_code_generator in CMakeLists.txt to build a plugin.

iop_init Parameter description

iop_init(COMPONENT_ID 0)

: COMPONENT_ID

This ID is used by JTS to create a component. We use the sources of this component to create our ROS/IOP-Bridge plugin. This ID is also hard coded in the main.cpp and generated path of the component. The auto-generated source-code files of a component are located in the build folder of the ROS workspace. For fkie_iop_primitive_driver it is build/iop/urn.jaus.jss.mobility/fkie_iop_primitive_driver/jaus/Fkie_iop_primitive_driver_0

after we use only a part of JTS-sources you can set it to 0 the only effect is the generated path name in the build folder.

iop_export_service Parameter description

iop_export_service(urn_jaus_jss_core_Events urn_jaus_jss_core_EventsClient)

There are a lot of services with parent functionality which is inherited by other services. These are e.g. Transport, Events and more services. In this case we need to export the header files and libraries so that they can be used by other plugins. The iop_export_service creates a list of all header files from specified services. The services are specified as a list of names. The name is defined by auto-generated folder name for JAUS service located in build-folder. An example from Events service:

The header fiels are stored in ${IOP_INSTALL_INCLUDE_DIRS} variable. We can use it to install theses files like:

install(
  DIRECTORY ${IOP_INSTALL_INCLUDE_DIRS} DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
  PATTERN "*.old" EXCLUDE
  PATTERN "*.gen" EXCLUDE
)

The library is exported by catkin_package, e.g. from Events service:

catkin_package(
    INCLUDE_DIRS include/public
    LIBRARIES ${PROJECT_NAME}
    CATKIN_DEPENDS fkie_iop_transport
)

iop_code_generator Parameter description

iop_code_generator(
  IDLS
    urn.jaus.jss.core-v1.0/AccessControl.xml
    urn.jaus.jss.core-v1.0/DiscoveryClient.xml
    urn.jaus.jss.core-v1.0/Events.xml
    urn.jaus.jss.core-v1.0/Liveness.xml
    urn.jaus.jss.core-v1.0/Management.xml
    urn.jaus.jss.core-v1.0/Transport.xml
    urn.jaus.jss.mobility/PrimitiveDriver.xml
  OWN_IDLS
  OVERRIDES
    include/urn_jaus_jss_mobility_PrimitiveDriver/PrimitiveDriver_ReceiveFSM.h
    src/urn_jaus_jss_mobility_PrimitiveDriver/PrimitiveDriver_ReceiveFSM.cpp
    src/main.cpp
  EXTERN_SERVICES
    urn_jaus_jss_core_AccessControl
    urn_jaus_jss_core_DiscoveryClient
    urn_jaus_jss_core_Events
    urn_jaus_jss_core_Liveness
    urn_jaus_jss_core_Management
    urn_jaus_jss_core_Transport
  GENERATED_SOURCES cppfiles
)

: IDLS

Specify a list of JSIDL files with IOP/JAUS services. This path is relative to fkie_iop_builder/jsidl.

: OWN_IDLS

Specify a list of JSIDL files with IOP/JAUS services. This path is relative to own package.

: OVERRIDES

Here are specified all source-code files which are auto-generated and changed by the plugin. Copy the files you will change from auto-generated location in build folder to the own plugin and specify these here.

New source-code file which are not generated, you have to specify in add_library (a default ROS parameter). See for example the CMakeLists.txt of fkie_iop_discovery.

Do not put own non-generated include files in the top level of the include-folder of your plugin. Please create public or private subfolder. See for example the fkie_iop_discovery package.

: EXTERN_SERVICES

A list of IOP/JAUS services for which a library is available and will be used in our plugin. The name is defined by auto-generated folder name for JAUS service located in build-folder.

The ROS packages of the used libraries must be specified in find_package and catkin_package/CATKIN_DEPENDS of the CMakeLists.txt and also in package.xml

: GENERATED_SOURCES

Since the auto-generated source-code files are also compiled, this is the return of iop_code_generator. The list of returned files can now be used by name cppfiles in add_library, e.g.

add_library(${PROJECT_NAME}
            ${cppfiles})