Running the Backend¶

Running on a local machine¶

This is a step-by-step description for running the backend for the case that the backend is locally installed on developer a machine.

Make sure you installed everything according to Installation
Start the required software components such as roscore, the backend server and the gazebo server. This can all be done using the runbackend script as decribed in Installation or manually by:
1. Start a roscore:
```
roscore
```
2. Start the backend server (in a different terminal window):
```
python $HBP/ExDBackend/hbp_nrp_backend/hbp_nrp_backend/runserver.py
```
  This will start the backend server running on 127.0.0.1:5000. If you wish to run the server on another port, you have to provide another argument
```
python $HBP/ExDBackend/hbp_nrp_backend/hbp_nrp_backend/runserver.py 9000
```
3. Start the ROSCLESimulationFactory, a ROS service needed by the backend to start an instance of the CLE
```
python $HBP/CLE/hbp_nrp_cle/hbp_nrp_cle/cle/ROSCLESimulationFactory.py
```
4. Start the Gazebo server. Be careful that our patched Gazebo plugin is loaded instead of the default one.
```
source $HBP/GazeboRosPackages/devel/setup.bash
rosrun gazebo_ros gzserver
```
5. Start a Gazebo client if you wish to view the results on your machine (not required when using the Frontend)
```
rosrun gazebo_ros gzclient
```
6. Load an experiment. The experiment configuration is the path to your experiment relative to $NRP_MODELS_DIRECTORY or your current folder if the first is not set
```
curl -X POST 127.0.0.1:5000/simulation -d '{"experimentID":"cloned_experiment_id"}'
```

Building the documentation¶

Note

The following options are available only for the core developers, who has writing access rights to the repositories and installed the NRP in developer mode: NRP_INSTALL_MODE=dev.

General documentation and Python API¶

The documentation and Python API (the pages you are currently reading) is created and can be read by calling

cd $EXDB/doc
make html
firefox build/html/index.html

Swagger API¶

Swagger is a standard to documenting services offered by restful application server. The documentation is available once the server is running (see Running the Backend) under this address.

Running the unit test on a local machine¶

Note

The following options are available only for the core developers, who has writing access rights to the repositories and installed the NRP in developer mode: NRP_INSTALL_MODE=dev.

After downloading Installation of the NRP and its components, you can run linting checks of the NRP Backend and related modules.

In order to run linter-check, there is a dedicated script verify.sh:

cd $HBP/ExDBackend
./verify.sh #make sure it is executable

In order to tests, there is a dedicated script run_tests.sh:

cd $HBP/ExDBackend
./run_tests.sh #make sure it is executable