Model development

TODO

• SpineCreator
• external.xsl
• Creating BRAHMS components
• ROSpy
• Naming conventions, best practices
• Dev on host machine by setting ROS_MASTER_URI to point to mammalbot

Model execution

TODO

• Copying bindings to Namespace
• Disabling shadows in Gazebo
• Loading seperate Docker container / exec in for ROStopic echo
• Running S2B

Testing SpineML / Python / ROS integration

Native install

1. Copy the contents of the bindings folder from the MammalBot repo to your Namespace root folder - by default this is /usr/local/SystemML/Namespace
2. Open SpineCreator and load the bindings_examples.proj model. You should see a very simple model with two single neurons and nothing else
3. To run the model:
   • Open a terminal and run roscore to start the ROS core
   • Open a second terminal window and navigate to the examples/projects/bindings directory
   • Execute the model with ~/SpineML_2_BRAHMS/convert_script_s2b -m "$PWD" -e 0
   • If the model has run successfully, the bottom of the output log will look something like:

   W3    0.928236       FINISHED
   W5    0.930353       FINISHED
   

   • To observe the model's output to an example ROS node, run rostopic echo /example/python in a third terminal window
   • Execute the model again to see data output to this ROS node

Docker install

(Pending) docker exec -it mammalbot_roscore ./ros_entrypoint.sh bash to open Bash prompt in ROS image to monitor ROS output