Introduction

The Common Lisp systems in this repository can be used to build a command line program that provides several tools for inspecting and manipulating distributed systems using the Robotics Service Bus middleware.

The full documentation for RSB can be found here.

Dependencies

At the moment, the code is not portable and can only be used with the SBCL implementation of Common Lisp.

The following systems are required:

• rsb
• cl-protobuf for sending Protocol Buffers data

Other than that, all dependencies should be available on Quicklisp.

Building

There is a CMake-based legacy build system, but it will be removed.

Using

After building the binary, it can be invoked with a sub-command to select the function to perform:

rsb-tools 2>&1

Invoke this program as

     rsb-tools redump [FILENAME (compress|static)*]
  or rsb-tools info
  or rsb-tools logger
  or rsb-tools call
  or rsb-tools send
  or rsb-tools introspect
  or rsb-tools web
  or rsb-tools bridge
  or rsb-tools server

(not rsb-tools).

For more information, see the full documentation mentioned above.

Contributing

If you want to contribute to this project, please

• Submit your intended changes as coherent pull requests.
• Rebase onto the master branch and squash any fixups and corrections.
• Make sure the unit tests pass.

Acknowledgments

The development of this software has been supported as follows:

• The development of this software was supported by CoR-Lab, Research Institute for Cognition and Robotics Bielefeld University.
• This work was supported by the Cluster of Excellence Cognitive Interaction Technology ‘CITEC’ (EXC 277) at Bielefeld University, which is funded by the German Research Foundation (DFG).