The fmi_adapter_ros2 repository

This repository provides the fmi_adapter package for wrapping functional mockup units (FMUs) for co-simulation of physical models into ROS 2 nodes, i.e. for the version ROS 2. The original implementation for the first generation of ROS can be found at github.com/boschresearch/fmi_adapter.

FMUs are defined in the FMI standard and can be created with a variety of modeling and simulation tools, including Dymola, MATLAB/Simulink, OpenModelica, SimulationX, and Wolfram System Modeler.

fmi_adapter provides a library with convenience functions based on common ROS types to load an FMU during runtime, retrieve the input, output, and parameter names, set timestamped input values, run the FMU's numeric solver, and query the resulting output.

In detail, this repository contains two ROS 2 packages:

• fmi_adapter provides a generic library and node for loading and running FMUs in ROS-based applications.
• fmi_adapter_examples provides small examples for the use of fmi_adapter.

Technical information on the interfaces and use of these packages is given in the README.md files in the corresponding subfolders.

Purpose of the project

The software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards (e.g. ISO 26262).

Requirements, how to build, test, install, use, etc.

Clone the repository into a ROS workspace and build it using colcon.

License

fmi_adapter_ros2 is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open source components included in fmi_adapter_ros2, see the file 3rd-party-licenses.txt.

Quality assurance

The colcon_test tool is used for quality assurances, which includes cpplint, uncrustify, flake8, xmllint and various other tools.

Unit tests based on gtest are located in the fmi_adapter/test folder. The unit tests use an FMU created with the FMU SDK by QTronic GmbH, cf. 3rd-party-licenses.txt.

Known issues/limitations

Please notice the following issues/limitations:

• fmi_adapter only supports FMUs according to the FMI 2.0 standard.
• fmi_adapter treats all inputs, outputs and parameters of a given FMU as floating-point values (ROS message std_msgs::msg::Float64, C++ type double, FMI type fmi2fmi2_real_t).

Contributing

Want to contribute? Great! You can do so through the standard GitHub pull request model. For large contributions we do encourage you to file a ticket in the GitHub issues tracking system prior to any code development to coordinate with the fmi_adapter_ros2 development team early in the process. Coordinating up front helps to avoid frustration later on.

Your contribution must be licensed under the Apache-2.0 license, the license used by this project.

Add / retain copyright notices

Include a copyright notice and license in each new file to be contributed, consistent with the style used by this project. If your contribution contains code under the copyright of a third party, document its origin, license, and copyright holders.

Sign your work

This project tracks patch provenance and licensing using a modified Developer Certificate of Origin (DCO; from OSDL) and Signed-off-by tags initially developed by the Linux kernel project.

fmi_adapter_ros2 Developer's Certificate of Origin.  Version 1.0

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I
    have the right to submit it under the "Apache License, Version 2.0"
    ("Apache-2.0"); or

(b) The contribution is based upon previous work that is covered by
    an appropriate open source license and I have the right under
    that license to submit that work with modifications, whether
    created in whole or in part by me, under the Apache-2.0 license;
    or

(c) The contribution was provided directly to me by some other
    person who certified (a) or (b) and I have not modified it.

(d) I understand and agree that this project and the contribution
    are public and that a record of the contribution (including all
    metadata and personal information I submit with it, including my
    sign-off) is maintained indefinitely and may be redistributed
    consistent with this project and the requirements of the Apache-2.0
    license or any open source license(s) involved, where they are
    relevant.

(e) I am granting the contribution to this project under the terms of
    Apache-2.0.

    http://www.apache.org/licenses/LICENSE-2.0

With the sign-off in a commit message you certify that you authored the patch or otherwise have the right to submit it under an open source license. The procedure is simple: To certify above fmi_adapter_ros2 Developer's Certificate of Origin 1.0 for your contribution just append a line

Signed-off-by: Random J Developer <random@developer.example.org>

to every commit message using your real name or your pseudonym and a valid email address.

If you have set your user.name and user.email git configs you can automatically sign the commit by running the git-commit command with the -s option. There may be multiple sign-offs if more than one developer was involved in authoring the contribution.

For a more detailed description of this procedure, please see SubmittingPatches which was extracted from the Linux kernel project, and which is stored in an external repository.

Individual vs. Corporate Contributors

Often employers or academic institution have ownership over code that is written in certain circumstances, so please do due diligence to ensure that you have the right to submit the code.

If you are a developer who is authorized to contribute to fmi_adapter_ros2 on behalf of your employer, then please use your corporate email address in the Signed-off-by tag. Otherwise please use a personal email address.

Maintain Copyright holder / Contributor list

Each contributor is responsible for identifying themselves in the NOTICE file, the project's list of copyright holders and authors. Please add the respective information corresponding to the Signed-off-by tag as part of your first pull request.

If you are a developer who is authorized to contribute to fmi_adapter_ros2 on behalf of your employer, then add your company / organization to the list of copyright holders in the NOTICE file. As author of a corporate contribution you can also add your name and corporate email address as in the Signed-off-by tag.

If your contribution is covered by this project's DCO's clause "(c) The contribution was provided directly to me by some other person who certified (a) or (b) and I have not modified it", please add the appropriate copyright holder(s) to the NOTICE file as part of your contribution.