rslcpp/CITATION.cff at main · TUMFTM/rslcpp · GitHub

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cff-version: 1.2.0
message: "If you use this software, please cite it using the metadata from this file."
title: "rslcpp - ROS Simulation Library for C++"
type: software
abstract: >-
  rslcpp - the ROS simulation library for C++ - lets you turn a set of existing ROS 2 nodes
  into a deterministic simulation. Instead of the asynchronous, multi-process default execution
  of ROS 2, rslcpp aggregates all participating nodes in a single process and drives them
  through a custom executor under an explicit simulation clock. A simulation run therefore
  produces identical results across machines, CPUs, and architectures. Standard rclcpp::Node
  classes are supported without any source code changes, either via a small Job interface or by
  dynamically loading composable nodes from the command line. Simulation time can be decoupled
  from wall-clock time to run faster or slower than realtime, and an optional delay backend
  injects deterministic fixed or measured communication delays to model network latency and
  processing jitter. Typical applications are scientific benchmarking, reinforcement learning
  environments, system-level debugging, and continuous integration testing.
authors:
  - family-names: "Sagmeister"
    given-names: "Simon"
    orcid: "https://orcid.org/0009-0002-9246-5456"
    affiliation: "Technical University of Munich, Germany; School of Engineering & Design, Department of Mobility Systems Engineering, Institute of Automotive Technology"
    email: "simon.sagmeister@tum.de"
  - family-names: "Weinmann"
    given-names: "Marcel"
    orcid: "https://orcid.org/0009-0008-7174-4732"
    affiliation: "Technical University of Munich, Germany; School of Engineering & Design, Department of Mobility Systems Engineering, Institute of Automotive Technology"
license: Apache-2.0
keywords:
  - "ROS 2"
  - "deterministic simulation"
  - "reproducibility of results"
  - "simulation"
  - "robotics"
  - "middleware"
  - "node composition"
  - "communication delay"
  - "software testing"
  - "continuous integration"
  - "autonomous systems"
  - "C++"
repository-code: "https://github.com/TUMFTM/rslcpp"
url: "https://github.com/TUMFTM/rslcpp"
version: "1.0.0"
date-released: "2026-08-11"
doi: "10.5281/zenodo.21894045"
preferred-citation:
  type: article
  title: "RSLCPP-Deterministic Simulations Using ROS 2"
  authors:
    - family-names: "Sagmeister"
      given-names: "Simon"
      orcid: "https://orcid.org/0009-0002-9246-5456"
      affiliation: "Technical University of Munich, Germany; School of Engineering & Design, Department of Mobility Systems Engineering, Institute of Automotive Technology"
    - family-names: "Weinmann"
      given-names: "Marcel"
      orcid: "https://orcid.org/0009-0008-7174-4732"
      affiliation: "Technical University of Munich, Germany; School of Engineering & Design, Department of Mobility Systems Engineering, Institute of Automotive Technology"
    - family-names: "Pitschi"
      given-names: "Phillip"
      orcid: "https://orcid.org/0009-0008-2165-2768"
      affiliation: "Technical University of Munich, Germany; School of Engineering & Design, Department of Engineering Physics & Computation, Institute of Automatic Control"
    - family-names: "Lienkamp"
      given-names: "Markus"
      orcid: "https://orcid.org/0000-0002-9263-5323"
      affiliation: "Technical University of Munich, Germany; School of Engineering & Design, Department of Mobility Systems Engineering, Institute of Automotive Technology"
  journal: "IEEE Robotics and Automation Practice"
  year: 2026
  volume: 1
  start: 118
  end: 122
  doi: "10.1109/RAP.2026.3704080"