The goal of this bachelor assignment is to see what considerations need to be made when making the generated prototyping code from 20-Sim 4C into standalone software. Using 20-Sim 4C, C-code can be generated during development in order to quickly test the developed hard real-time control on the embedded control computer of prototypes. However, this means that the setup of these prototypes is such that the embedded control computer is connected to a development station and thus cannot run standalone. The Robot Operating System (ROS) is used to add soft real-time control and convert the generated prototyping code to standalone software
20-Sim 4C command and control software is replaced by ROS. Communication between ROS and the generated prototyping code is setup by converting the code to a ROS node. Supervisory- and sequence control is added using other ROS nodes. This approach of making the generated prototyping code from 20-Sim 4C standalone, is applied to a case study. In which the working of the approach is shown.