The Nengoros simulator also allows to launch external applications (native processes) without necessity of any ROS support.
For the demo purposes there is a project `demonodes/native`. The project includes simple C++ application, which writes messages into console (however, Nengoros does not redirect its STDOUT by default) and it writes messages also into the out_helloworld.txt file. When launching from Nengoros, this file will be located under the `nengo/simulator-ui/` folder.
It may be necessary to compile the application for particular OS, so:
cd demonodes/native g++ helloworld.cpp ./a.out
Running the Demo
Nengoros already has the corresponding demo script copied to the correct place, so run from the Nengo console:
This script does:
- Creates one Neural Module without inputs/outputs (since this process does not communicate over the ROS network)
- Adds the Neural Module to the Nengo network (thus starts the external process)
- Adds a dummy signal generator
Now, the external process is running. This can be verified either by the process manager:
ps xm | grep demo
or by checking contents of the text file ‘nengo/simulator-ui/out_helloworld.txt‘. Try t delete the HelloWorld node from Nengo, the process should be stopped.