Commit ce908d2c authored by René Schöne's avatar René Schöne
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Again update use-case mpm4cps.

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# Inner workings of `ragconnect`
![ros2rag-process](material/ros2rag-process.png)
![ros2rag-process](images/ros2rag-process.png)
- `ragconnect` uses the [relast-preprocessor](https://git-st.inf.tu-dresden.de/jastadd/relast-preprocessor) to parse `.relast` grammar files. This results in an ASTNode of type `Program`.
- it further uses a dedicated parser for `.connect` files containing endpoint-, mapping-, and dependency-definitions. This results in an ASTNode of type `RagConnect`.
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In the publication [*"Connecting conceptual models using Relational Reference Attribute Grammars"*](https://doi.org/10.1145/3417990.3421437) ( DOI still pending), a use case involving a simulated robot arm and two different models conencted to it was shown.
One model was used to ensure a low speed of the robot when within a safety zone (purple boxes in the picture below), and the other model executes a workflow to control the robot.
![Screenshot of Gazebo](material/robo3d.png)
![Screenshot of Gazebo](images/robo3d.png)
[📽 Recording of the simulated robot during the use case](moving-robot.mp4)
[📽 Recording of the simulated robot during the use case](_static/moving-robot.mp4)
This paper was presented on October, 16h during the [MPM4CPS workshop](https://msdl.uantwerpen.be/conferences/MPM4CPS/2020/) within the [MODELS 2020 conference](https://conf.researchr.org/home/models-2020). For more information, see the [presented slides](mpm4cps-slides.pdf) or the [a recording of the session](https://youtu.be/Hgc1qFfmr44?t=1220).
This paper was presented on October, 16h during the [MPM4CPS workshop](https://msdl.uantwerpen.be/conferences/MPM4CPS/2020/) within the [MODELS 2020 conference](https://conf.researchr.org/home/models-2020). For more information, see the [presented slides](_static/mpm4cps-slides.pdf) or the [a recording of the session](https://youtu.be/Hgc1qFfmr44?t=1220).
The repository with the used source code can be found at: <https://git-st.inf.tu-dresden.de/ceti/ros/mpm4cps2020>
The usage is dockerized, so starting the application only involves the commands listed below.
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