instructions for using both the offline and online monitors with ROSMonitoring:

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Behaviourtrees_rosmonitoring

Instructions to Implement Behaviour Trees and ROS Monitoring

Prerequisites

• ROS 2 Humble
• behaviortree_cpp_v3 library
• Groot (for visualizing behavior trees)

Installation Steps

1. Clone the Repository:

   Open a terminal and execute the following commands:

   mkdir -p ~/ros_ws/src
   cd ~/ros_ws/src
   git clone <current_repo_url>
   cd ~/ros_ws
   colcon build

2. Run the Behavior Tree:

   ros2 run bt_bumpgo bt_bumpgo_main
   ros2 run groot Groot  # Start Groot for visualization

   In Groot:

   • Select Monitor -> Start -> Connect Local to visualize the behavior tree graph.

Implementing ROS Monitoring

1. Clone the ROSMonitoring Package:

   Clone the ROSMonitoring package from the repository:

   cd ~/
   git clone https://github.com/autonomy-and-verification-uol/ROSMonitoring.git
   cd ROSMonitoring
   git checkout ros2

2. Create a Simple Offline Monitor:

   • Copy the offline configuration file from the current repository to the ROSMonitoring repository.
   • The ROSMonitoring repository does not need to be in your ROS workspace; it can be executed separately.

   cd ~/ROSMonitoring/generator/ros2_devel/
   chmod +x generator
   python3 ./generator --config_file offline_config.yaml

To Resolve Build Errors

If you encounter any errors, follow these steps in your ros_ws:

rm -rf build install log
source /opt/ros/humble/setup.bash
colcon build

Launching the Monitoring Tools

1. Start the ROS Monitoring Tool:

   In a terminal, run:

   cd ~/ros_ws/
   . install/setup.bash
   ros2 launch src/monitor/launch/monitor.launch

2. Run the Instrumented Launch File:

   In another terminal, execute:

   cd ~/ros_ws/
   . install/setup.bash
   ros2 launch src/Bump-and-Go-with-Behavior-Trees/launch/run_instrumented.launch

   Or use:

   ros2 launch src/Bump-and-Go-with-Behavior-Trees/launch/run_launch.py

Analyzing the Log File with Offline Oracles

1. Copy the Log File:

   cp ~/ros_ws/log.txt ~/ROSMonitoring/oracle/

2. Analyze the Log File with the RML Oracle:

   cd ~/ROSMonitoring/oracle/RMLOracle/prolog/
   sh offline_monitor.sh ../rml/test.pl ../../log.txt

3. Analyze the Log File with the TL Oracle:

   cd ~/ROSMonitoring/oracle/TLOracle/
   ./oracle.py --offline --property property --trace ../../log.txt --discrete

Adding a Monitor for Online Analysis

1. Generate the Online Monitor:

   cd ~/ROSMonitoring/generator/ros2_devel/
   chmod +x generator
   ./generator --config_file online_config.yaml

2. Run the Online Monitor with RML Oracle:

   Before running the online monitor, execute the web server for Prolog:

   cd ~/ROSMonitoring/oracle/RMLOracle/prolog/
   sh online_monitor.sh ../rml/test.pl 8080

   This starts the server at http://127.0.0.1:8080/.

3. Run the Online Oracle with TL Properties:

   cd ~/ROSMonitoring/oracle/TLOracle/
   ./oracle.py --online --property property --port 8080 --discrete

Output

• A log.txt file will be generated in your repository directory. ( for offline monitor), for online monitor a server will run on http://127.0.0.8080/

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