Core deterministic simulation runtime.

This package defines the rslcpp::Job interface and the simulation loop rslcpp::run_job(...).

• rslcpp::Job: a small interface to describe what to run and how time advances.
• rslcpp::run_job(argc, argv, job): runs your job until finished and returns an exit code.
• Per-tick simulation time update for each node’s ROS clock.

• Header: include/rslcpp/rslcpp.hpp
  • class rslcpp::Job (with Job::SharedPtr and Job::UniquePtr typedefs)
  • rslcpp::exit_code_t rslcpp::run_job(int argc, char ** argv, Job::SharedPtr job)

Your implementation provides:

• create_and_get_nodes(): create all nodes and return them.
• get_initial_time(): initial simulation time (rclcpp::Time).
• get_finished(): when to stop.
• get_exit_code(): exit code returned after the loop.

A typical integration looks like:

#include <rslcpp/rslcpp.hpp>

class MyJob : public rslcpp::Job {
public:
  std::vector<rclcpp::Node::SharedPtr> create_and_get_nodes() override;
  rclcpp::Time get_initial_time() override;
  bool get_finished() override;
  rslcpp::exit_code_t get_exit_code() override;
};

int main(int argc, char ** argv)
{
  auto job = std::make_shared<MyJob>();
  return rslcpp::run_job(argc, argv, job);
}

For complete examples, see rslcpp_test/executables/.

• All nodes must have use_sim_time enabled.
  • rslcpp::run_job checks this at startup and throws if a node does not use sim time.
• Intended usage is a single-process simulation with intra-process communication enabled.

• rslcpp_dynamic_job: ready-made job executable that dynamically loads composable nodes
• rslcpp_time_delay + rslcpp_time_delay_backend: per-topic message delay configuration
• rslcpp_helper_nodes: monitor / rosbag player / rosbag recorder helper nodes