This tool is based on the paper A Ros Adapter for RTLola, which was published at RV'25.

This work is ongoing, and I plan to add features in the future. Feel free to share any requests! You can reach me via sebastian dot schirmer at dlr dot de or open an issue.

RTLola-Ros2-Monitor

ROS 2 adapter for CISPA's RTLola monitoring interpreter.

The adapter assumes a running ROS 2 workspace, i.e., ros2 topic list returns a list of topics that are currently executed. The adapter will then automatically generate RTLola input stream binding for all available topic data. If a topic called RTLolaOutput is an available interace, i.e., RTLolaOutput is returned by ros2 interface list, it will also generate a binding to the respective RTLola outputs. If the service message RTLolaService is in the same list, then RTLola will accept service requests and returns the immediate response of the monitor. Hence, the service request is interpreted as inputs and the responses need to match existing output streams. Input subscription will automatically match QoS of their publisher. The response will use the immediate output values when forwarding the inputs. Hence, periodic output might not be updated.

Try it out by following the getting started guidlines using the existing ROS test workspace!

ros2_config.toml allows you to freeze the binding by setting generate_file to false.

Members of a ros2 topic are prefixed by the package name, i.e., <package_name_lowercase>__<member>. For instance, if the topic Adc has a member float32 a0, then this member can be accessed by the RTLola specification using input adc__a0: Float32. If a member has a fixed array type, then the array is unfolded, i.e., float32[3] arr is unfolded to three inputs input adc__arr_0: Float32, input adc__arr_1: Float32, and input adc__arr_2: Float32.

For more RTLola information see here.

A comprehensive RTLola tutorial can be found here.

Table of Content

• RTLola-Ros2-Monitor
  • Table of Content
  • Getting Started
  • Contributors
  • Contributing
  • Changes
  • License

Getting Started

• source ROS 2
• cd <path_repo>/test_ws
• colcon build
• source install/setup.bash
• ros2 run rtlola_testnode testnode
• cd <path_repo>/monitor
• fill out ros2_config.toml:
  • generate_file = true if new bindings shall be generated
  • local_setup_script should point to the ROS 2 overlay you want to generate bindings for
• cargo run -- ../specs/test_spec.lola

Tested using Rust Version 1.87.0

If you want to use ros2 run rtlola_node rtlola_ros2_monitor then call colcon build within rtlola_node to build a workspace you can source (ie the monitor must be build first).

Contributors

• Sebastian Schirmer

Contributing

Please see the contribution guidelines for further information about how to contribute.

Changes

Please see the Changelog for notable changes of the material.

License

Please see the file LICENSE.md for further information about how the content is licensed.