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BigActor Runtime Environment over ROS

This repository provides the necessary ROS packages to run BigActors over the Robot Operating System.

Features:

  • Scala BigActor Langauge

  • ros_vehicle for controlling unmanned vehicles (currently supports UAVs equipped with piccolo autopilot)

  • web-based visualization of the mission

Dependencies:

  • ROS Hydro

  • Piccolo Command Center and SIL

  • OpenJDK 7

Instalation:

  • Clone the repository

  • If your machine is 32 bit set the flag CPU32 to 1 in "BigActorRTE/ros_workspace/src/piccolo_ros/CMakeLists.txt"

  • cd ~/bigactorrte/ros_workspace/src

  • catkin_init_workspace

  • cd ..

  • catkin_make -j1

  • source devel/setup.bash

Run in simulation environment:

  • Start a Software in the Loop Simulation at the Piccolo framework (this can be done in a different machine)

  • rosed ros_vehicle SIL.launch

  • Update the following fields with the IP and port of your piccolo simulation

  • roslaunch ros_vehicle SIL.launch

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