Readme.md

RLL Server

Contains the RLL web server based on the Tornado framework to host the RLL frontend.

Installation

The rll_server is a standalone Python3 application and doesn't require you to have a full ROS installation. Nevertheless, it is setup as a catkin package and can be installed as such.

Python dependencies

Note: it is recommended that you install the server in a virtualenv, e.g. by running:

python3 -m venv venv
source . venv/bin/activate

You need to install the required dependencies, by running:

pip3 install -r requirements.txt

Next we need to install the RLL python modules which with this repository. Navigate into the directories for rll_common, rll_server, (optionally rll_test) and run:

pip install --editable .

To install the package. If you do not want to edit the files you can omit the --editable flag.

Running the server

Running the server as a python program

Since we are not runnig the rll_server via roslaunch, you need to set the ROS_PACKAGE_PATH environment variable manually to contain the paths to rll_common and rll_server. From the the rll_stack directory run:

export ROS_PACKAGE_PATH=$(pwd)/rll_common:$(pwd)/rll_server

The server consists of three Tornado applications: RLL server, RLL monitor and RLL worker You can start them separately or all at once with:

python3 rll_server/scripts/multiprocess_server.py 

Running the server with ROS

First, build the rll_server package with catkin. This will add the the rll_stack packages to the ROS_PACKAGE_PATH.

Please make sure you are running the following command in an environment with a Python3 interpreter which has all required packages installed. Even though roslaunch may be running with Pyhton2 it will invoke the server scripts with Python3.

roslaunch rll_server server.launch