Please access the documentation via convince-project.github.io/model2code
MODEL2CODE is a tool that generates a ROS package with C++ code from a ROS-flavoured SCXML model.
MODEL2CODE has been tested on Ubuntu 22.04 with Python 3.10.12.
MODEL2CODE requires the following dependencies:
- TinyXML2 (Tested with v10.0.0) for XML file handling.
To install see TinyXML2 Installation
To compile the code run the following commands:
git clone https://github.com/convince-project/model2code.git
cd model2code
mkdir build
cd build
cmake ..
make install
To run the model2code tool, you will need the following:
- An SCXML file with the state machine of the model;
- An XML file defining the model of your project;
- An XML file defining the interfaces of your project;
- A directory containing templates for the files to be generated.
To run the model2code tool use the following command
model2code --input_filename "input_model.scxml" --model_filename "project_model_definition.xml" --interface_filename "interface_definition.xml" --output_path "path/to/output/directory" --template_path "path/to/template_skill/directory"
replace input_model.scxml, project_model_definition.scxml, interface_definition.scxml, path/to/output/directory and path/to/template_skill/directory with your needs.
By default the path/to/output/directory is set to the location of input_model.scxml, and path/to/template_skill/directory is set to the 'template_skill' directory of this repository.
Example XML files with the required structure for defining the project's model and interfaces are available in the tutorials/specifications folder.
To run an example of MODEL2CODE go to the main directory and run the following commands: Example 1:
model2code --input_filename "tutorials/skills/first_tutorial_skill/src/FirstTutorialSkill.scxml" --model_filename "tutorials/specifications/full-model.xml" --interface_filename "tutorials/specifications/interfaces.xml" --output_path "tutorials/skills/first_tutorial_skill"
Example 2:
model2code --input_filename "tutorials/skills/second_tutorial_skill/src/SecondTutorialSkill.scxml" --model_filename "tutorials/specifications/full-model.xml" --interface_filename "tutorials/specifications/interfaces.xml"