diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..757d3e70e1d7b66a3a5e1b215ecfe0fe6203d2ab
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,42 @@
+[submodule "ros3rag"]
+ path = ros3rag
+ url = ../../../jastadd/ros3rag.git
+[submodule "coordinator"]
+ path = coordinator
+ url = ../../../jastadd/coordinator
+[submodule "web-ros3rag"]
+ path = web-ros3rag
+ url = ../../../jastadd/web-ros3rag
+[submodule "robotic-controller/src/franka_description"]
+ path = robotic-controller/src/franka_description
+ url = ../packages/franka_description.git
+[submodule "robotic-controller/src/panda_moveit_config"]
+ path = robotic-controller/src/panda_moveit_config
+ url = ../packages/panda_moveit_config.git
+[submodule "robotic-controller/src/panda_simulation"]
+ path = robotic-controller/src/panda_simulation
+ url = ../packages/panda_simulation.git
+[submodule "robotic-controller/src/simulation_util"]
+ path = robotic-controller/src/simulation_util
+ url = ../packages/simulation_util.git
+[submodule "robotic-controller/src/gazebo_pkgs"]
+ path = robotic-controller/src/gazebo_pkgs
+ url = ../packages/gazebo-pkgs.git
+[submodule "robotic-controller/src/general_message_packages"]
+ path = robotic-controller/src/general_message_packages
+ url = https://github.com/JenniferBuehler/general-message-pkgs.git
+[submodule "robotic-controller/src/panda_grasping"]
+ path = robotic-controller/src/panda_grasping
+ url = ../packages/panda_grasping.git
+[submodule "robotic-controller/src/ccf"]
+ path = robotic-controller/src/ccf
+ url = ../ccf/ccf.git
+[submodule "robotic-controller/src/ccf_base_application"]
+ path = robotic-controller/src/ccf_base_application
+ url = ../ccf/ccf_base_application.git
+[submodule "robotic-controller/src/ccf_immersive_sorting"]
+ path = robotic-controller/src/ccf_immersive_sorting
+ url = ../ccf/ccf_immersive_sorting.git
+[submodule "robotic-controller/src/panda_util"]
+ path = robotic-controller/src/panda_util
+ url = ../packages/panda_util.git
diff --git a/README.md b/README.md
index 725b79939445c18196133f5a55302a46cf6db747..e3a847333dbe44da6ca1f42a0781aa43cc33c71b 100644
--- a/README.md
+++ b/README.md
@@ -1,92 +1,26 @@
-# models2022
+# Artifact for the paper "Incremental Causal Connection for Self-Adaptive Systems Based on Relational Reference Attribute Grammars"
-Use case of the paper "Incremental Causal Connection for Self-Adaptive Systems Based on Relational Reference Attribute Grammars"
+## Docker
-## Getting started
+To quickly run the graphical example applications, you can use Docker. For development purposes, please use the regular installation
+instructions further below in this document. Please note that the setup uses vnc and thus offers limited graphics performance.
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
+:warning: TODO: check what is needed for VNC setup
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
-
-## Add your files
-
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
-
-```
-cd existing_repo
-git remote add origin https://git-st.inf.tu-dresden.de/ceti/ros/models2022.git
-git branch -M main
-git push -uf origin main
-```
-
-## Integrate with your tools
-
-- [ ] [Set up project integrations](https://git-st.inf.tu-dresden.de/ceti/ros/models2022/-/settings/integrations)
-
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
-
-## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
-
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
-
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
+- Install Docker and docker-compose for your system (for Windows and Mac OS, install Docker Desktop)
+- Build the container `docker build --tag cgvsim .`
+- Run the container: `docker run -it -p 6080:80 --rm cgvsim`. A webserver is run inside the container that is exposed to port `6080` on your system.
+- Open `http://localhost:6080` in a web browser
## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
-
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
-
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
-
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
-
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
-
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
-
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
-
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
-
-## License
-For open source projects, say how it is licensed.
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
+- Clone this repo and its submodules:
+ - `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/models2022.git models2022`
+ - (as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/models2022.git models2022`)
+ - change into the workspace `cd models2022`
+- Prepare/Build all docker images: `docker-compose build`
+- (Optional) Use the Web UI to observe MQTT message and view the runtime model of place B
+ - `docker-compose up -d web_rag`
+ - Open your browser at <http://127.0.0.1:8050/>
+- Start the case study
+ - `docker-compose up [-d] coordinator` (the `-d` flag is optional to run the coordinator in the background)
diff --git a/coordinator b/coordinator
new file mode 160000
index 0000000000000000000000000000000000000000..634f0effcdd41edfaf14e69eb7759cbe25b2a29e
--- /dev/null
+++ b/coordinator
@@ -0,0 +1 @@
+Subproject commit 634f0effcdd41edfaf14e69eb7759cbe25b2a29e
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 0000000000000000000000000000000000000000..e71c853d764cd339c70b8060eb945dcc620cb13d
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,65 @@
+version: '3'
+services:
+ ros_core:
+ build: .
+ network_mode: host
+ user: "user"
+ command: ['roscore']
+
+ ros_place_a:
+ build: .
+ network_mode: host
+ user: "user"
+ # TODO: update command
+ command: ['rosrun', 'cgv_connector', 'dummy_rag_connector']
+
+ ros_place_b1:
+ build: .
+ network_mode: host
+ user: "user"
+ # TODO: update command
+ command: ['rosrun', 'cgv_connector', 'dummy_rbg_connector']
+
+ ros_place_b1:
+ build: .
+ network_mode: host
+ user: "user"
+ # TODO: update command
+ command: ['rosrun', 'cgv_connector', 'dummy_rbg_connector']
+
+ coordinator:
+ build: coordinator
+ network_mode: host
+ volumes:
+ - "./coordinator/examples/ros3rag.coordinator:/config.coordinator"
+ # TODO: remove --dry-run
+ entrypoint: ["/bin/bash", "-c", "./build/install/coordinator/bin/coordinator /config.coordinator --dry-run"]
+
+ rag_place_a:
+ build: ros3rag
+ network_mode: host
+ environment:
+ - "TARGET=ros3rag.placeA"
+
+ rag_place_b:
+ build: ros3rag
+ network_mode: host
+ environment:
+ - "TARGET=ros3rag.placeB"
+
+ web_rag:
+ build: web-ros3rag
+ network_mode: host
+ ports:
+ - "8050:8050"
+
+ mosquitto:
+ image: eclipse-mosquitto
+ container_name: mqtt
+ network_mode: host
+ restart: unless-stopped
+ # volumes:
+ # - ./docker/mosquitto.conf:/mosquitto/config/mosquitto.conf
+ ports:
+ - "1883:1883"
+ - "9001:9001"
diff --git a/entrypoint.sh b/entrypoint.sh
new file mode 100644
index 0000000000000000000000000000000000000000..eb592a01595e99c384a2939cc97985fc245171c4
--- /dev/null
+++ b/entrypoint.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+source /opt/ros/noetic/setup.bash
+source $HOME/devel/setup.bash
+exec "$@"
diff --git a/robotic-controller/Dockerfile b/robotic-controller/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..798ad636735024057bfb1f24a9082f0f8172d2dc
--- /dev/null
+++ b/robotic-controller/Dockerfile
@@ -0,0 +1,72 @@
+FROM ros:noetic-ros-core
+
+# update and install dependencies
+RUN apt-get update && apt-get upgrade -y && apt-get install -y \
+ python3-osrf-pycommon \
+ python3-catkin-tools \
+ build-essential \
+ protobuf-compiler \
+ libprotobuf-dev \
+ python3-rosdep
+
+# update rosdep dependencies manually to speed up process
+RUN apt-get install -y \
+ ros-noetic-gazebo-msgs \
+ libsdformat9-dev \
+ ros-noetic-gazebo-ros \
+ ros-noetic-xacro \
+ ros-noetic-tf2 \
+ ros-noetic-moveit-ros-planning-interface \
+ ros-noetic-franka-gripper \
+ ros-noetic-controller-manager \
+ ros-noetic-effort-controllers \
+ ros-noetic-gazebo-plugins \
+ ros-noetic-gazebo-ros-control \
+ ros-noetic-joint-state-controller \
+ ros-noetic-joint-state-publisher \
+ ros-noetic-joint-trajectory-controller \
+ ros-noetic-robot-state-publisher \
+ ros-noetic-tf \
+ ros-noetic-moveit-simple-controller-manager \
+ ros-noetic-moveit-core \
+ ros-noetic-moveit-ros-perception \
+ ros-noetic-moveit-visual-tools \
+ ros-noetic-controller-interface \
+ ros-noetic-hardware-interface \
+ ros-noetic-moveit-ros-move-group \
+ ros-noetic-moveit-fake-controller-manager \
+ ros-noetic-moveit-kinematics \
+ ros-noetic-moveit-planners-ompl \
+ ros-noetic-moveit-ros-visualization \
+ ros-noetic-joint-state-publisher-gui
+
+
+ENV HOME /home/user
+RUN useradd --create-home --home-dir $HOME user && chmod -R u+rwx $HOME && chown -R user:user $HOME
+RUN rosdep init
+
+USER user
+
+RUN mkdir -p ${HOME}/catkin_ws/src/cgv_connector
+COPY --chown=user:user . ${HOME}/catkin_ws/
+
+RUN rosdep update
+
+# temporary switch to root to be able to install the ROS package dependencies of the workspace
+USER root
+RUN rosdep install --from-paths ${HOME}/catkin_ws -i -y
+USER user
+
+RUN ls -al /home/user
+WORKDIR ${HOME}/catkin_ws
+RUN echo "#!/bin/bash\n\
+source /opt/ros/noetic/setup.bash\\n\
+if [[ -f " $HOME/catkin_ws/devel/setup.bash" ]];then source $HOME/catkin_ws/devel/setup.bash; fi\\n\
+exec \"\$@\"\\n" > ${HOME}/entrypoint.sh
+RUN chmod u+x ${HOME}/entrypoint.sh
+
+RUN ${HOME}/entrypoint.sh catkin build
+
+EXPOSE 6576/tcp
+
+ENTRYPOINT ["/home/user/entrypoint.sh"]
diff --git a/robotic-controller/src/ccf b/robotic-controller/src/ccf
new file mode 160000
index 0000000000000000000000000000000000000000..9a442a0d87ed1ef0accd1e1f52ba568f72190a23
--- /dev/null
+++ b/robotic-controller/src/ccf
@@ -0,0 +1 @@
+Subproject commit 9a442a0d87ed1ef0accd1e1f52ba568f72190a23
diff --git a/robotic-controller/src/ccf_base_application b/robotic-controller/src/ccf_base_application
new file mode 160000
index 0000000000000000000000000000000000000000..601928ea999b9e4a0c69dd146f0f06dda636cd96
--- /dev/null
+++ b/robotic-controller/src/ccf_base_application
@@ -0,0 +1 @@
+Subproject commit 601928ea999b9e4a0c69dd146f0f06dda636cd96
diff --git a/robotic-controller/src/ccf_immersive_sorting b/robotic-controller/src/ccf_immersive_sorting
new file mode 160000
index 0000000000000000000000000000000000000000..2df9e2ef0c39c90dec1064ded79339b0663888b1
--- /dev/null
+++ b/robotic-controller/src/ccf_immersive_sorting
@@ -0,0 +1 @@
+Subproject commit 2df9e2ef0c39c90dec1064ded79339b0663888b1
diff --git a/robotic-controller/src/franka_description b/robotic-controller/src/franka_description
new file mode 160000
index 0000000000000000000000000000000000000000..ab47d8065a77370186ff41130b5d1c45254b047e
--- /dev/null
+++ b/robotic-controller/src/franka_description
@@ -0,0 +1 @@
+Subproject commit ab47d8065a77370186ff41130b5d1c45254b047e
diff --git a/robotic-controller/src/gazebo_pkgs b/robotic-controller/src/gazebo_pkgs
new file mode 160000
index 0000000000000000000000000000000000000000..730d0ade150aedde1164388bdaf3d628527ad316
--- /dev/null
+++ b/robotic-controller/src/gazebo_pkgs
@@ -0,0 +1 @@
+Subproject commit 730d0ade150aedde1164388bdaf3d628527ad316
diff --git a/robotic-controller/src/general_message_packages b/robotic-controller/src/general_message_packages
new file mode 160000
index 0000000000000000000000000000000000000000..f0c7a0cc811187cca8e928bc7c5906e463c24945
--- /dev/null
+++ b/robotic-controller/src/general_message_packages
@@ -0,0 +1 @@
+Subproject commit f0c7a0cc811187cca8e928bc7c5906e463c24945
diff --git a/robotic-controller/src/panda_grasping b/robotic-controller/src/panda_grasping
new file mode 160000
index 0000000000000000000000000000000000000000..25091252635d65401331244cdbf9f41415d4b924
--- /dev/null
+++ b/robotic-controller/src/panda_grasping
@@ -0,0 +1 @@
+Subproject commit 25091252635d65401331244cdbf9f41415d4b924
diff --git a/robotic-controller/src/panda_moveit_config b/robotic-controller/src/panda_moveit_config
new file mode 160000
index 0000000000000000000000000000000000000000..0199c638ef433c0e046fb30a7e823ee147c59c1e
--- /dev/null
+++ b/robotic-controller/src/panda_moveit_config
@@ -0,0 +1 @@
+Subproject commit 0199c638ef433c0e046fb30a7e823ee147c59c1e
diff --git a/robotic-controller/src/panda_simulation b/robotic-controller/src/panda_simulation
new file mode 160000
index 0000000000000000000000000000000000000000..ec9acbf9eba9e736d030d239c3698b0e33825cc1
--- /dev/null
+++ b/robotic-controller/src/panda_simulation
@@ -0,0 +1 @@
+Subproject commit ec9acbf9eba9e736d030d239c3698b0e33825cc1
diff --git a/robotic-controller/src/panda_util b/robotic-controller/src/panda_util
new file mode 160000
index 0000000000000000000000000000000000000000..5f4e7dd9b661b97e0930a707b16b581ee59a98fc
--- /dev/null
+++ b/robotic-controller/src/panda_util
@@ -0,0 +1 @@
+Subproject commit 5f4e7dd9b661b97e0930a707b16b581ee59a98fc
diff --git a/robotic-controller/src/simulation_util b/robotic-controller/src/simulation_util
new file mode 160000
index 0000000000000000000000000000000000000000..ecc8e6e06c36c3674cd9851987499cbbaa31747c
--- /dev/null
+++ b/robotic-controller/src/simulation_util
@@ -0,0 +1 @@
+Subproject commit ecc8e6e06c36c3674cd9851987499cbbaa31747c
diff --git a/ros3rag b/ros3rag
new file mode 160000
index 0000000000000000000000000000000000000000..eafdc0741cba0abb82a88c295d1a3d365ef2a04b
--- /dev/null
+++ b/ros3rag
@@ -0,0 +1 @@
+Subproject commit eafdc0741cba0abb82a88c295d1a3d365ef2a04b
diff --git a/ros3rag.coordinator b/ros3rag.coordinator
new file mode 100644
index 0000000000000000000000000000000000000000..8daa5434582979d399cda8c3ca3116079cd983e1
--- /dev/null
+++ b/ros3rag.coordinator
@@ -0,0 +1,25 @@
+components {
+ component robotCtrlA, start using docker compose "ros_place_a", report using mqtt "ros-place-a", status "ready" after 1 sec
+ component robotCtrlB1, start using docker compose "ros_place_b1", report using mqtt "ros-place-b1", status "ready" after 1 sec
+ component robotCtrlB2, start using docker compose "ros_place_b2", report using mqtt "ros-place-b2", status "ready" after 1 sec
+ component ragA, start using script "./place.sh a" in "ros3rag", report using mqtt "coordinating/rag-a"
+
+ component ragB, start using script "./place.sh b" in "ros3rag", report using mqtt "coordinating/rag-b"
+ //component ragB, report using mqtt "coordinating/rag-b"
+
+ component rosCore, start using docker compose "ros_core", status "ready" after 2 sec
+ component mosquitto, start using docker compose "mosquitto", status "ready" after 1 sec
+
+ // ros core needed for all other ros nodes
+ rosCore < robotCtrlA, robotCtrlB
+
+ // mqtt broker needed for all robot ctrl and rag nodes
+ mosquitto < robotCtrlA, robotCtrlB, ragA, ragB
+
+ // robot control needs to start before rag
+ robotCtrlA < ragA
+ robotCtrlB < ragB
+
+ // rag place B needs to start before rag place A
+ ragB < ragA
+}
diff --git a/web-ros3rag b/web-ros3rag
new file mode 160000
index 0000000000000000000000000000000000000000..28f4dd83d8cd993c8a94bc129c85439048f24d90
--- /dev/null
+++ b/web-ros3rag
@@ -0,0 +1 @@
+Subproject commit 28f4dd83d8cd993c8a94bc129c85439048f24d90