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Papyrus/customizations/robotics/reverse
ROS2 reverse
In order to start creating ROS2 compatible components with Papyrus for Robotics, it is important to enable referencing standard ROS2 messages. These have been made available in a model library in form of RobMoSys compliant communication objects and service definitions. This library has been obtained by a reverse functionality within Papyrus for robotics that scans the available list of ros messages and services. If the message is not already existing, it will be created.
It is also possible to create a set of component definitions from the currently running ROS nodes. This reverse mechanism is currently limited to the structural part of a component, i.e. its ports along with the provided or required service definitions.
The following screenshots shows the context menus for starting reverse engineering.
Context menu for generating code