Package Overview

slugs_ros

This is a wrapper of slugs to send and receive messages with ROS.

controller_executor

You can launch the a controller with slugs easily using this package. The controller node then waits for inputs and outputs to the controller.

rqt_mapping_and_analysis

This package provides a graphical user interface (GUI) for users to map inputs and outputs of the controller to ROS nodes. The GUI also provides suggestions to modify the specification.

How it works

Minimal Requirements

1. A specification in .slugsin format
2. A YAML file that specifies the relationship of propositions with topics
3. Edit executor.launch. Replace the directories to the YAML file and the slugsin file.