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+
+APP4MC AMALTHEA Headless Synthetic Load Generator (SLG) for ROS2 and MicroROS
+
+Launch via executable jar
+
+  java -jar ros2_slg.jar ...
+
+Transformation configured via Properties file:
+[-p, --properties <file>] [-w, --workingDirectory <dir>]
+
+Transformation configured via parameter:
+[-o, --output <dir>] [-m, --m2m <keys>] [-t, --m2t <keys>] [-A<key-value>] <directory>
+
+Options:
+        -p, --properties        The Properties file that should be used to configure the transformation.
+                        If the properties option is not set, the input needs to be provided as parameter.
+
+        -w, --workingDirectory  The working directory. Used to resolve file parameters in the Properties file in a relative manner. [optional].
+
+        -o, --output    The directory in which the output should be generated. Only interpreted if --properties is not set. [optional].
+                        If not provided the output directory defaults to <input_directory>/result.
+
+        -m, --m2m       Comma separated list of m2m transformation keys [optional].
+                        If not provided and no m2t transformation keys are set, all available m2m transformations will be executed.
+
+        -t, --m2t       Comma separated list of m2t transformation keys [optional].
+                        If not provided and no m2m transformation keys are set, all available m2t transformations will be executed.
+
+        -A              Option to provide additional transformation specific properties. [optional].
+                        Need to be provided in the key=value format.
+
+        -h, --help, /?  Show this help.
+
+Parameter:
+        directory       The directory that contains model files to transform
+
+Available M2M transformations:
+
+Available M2T transformations:
+ - ROS_SLG
+
+
+Example:
+
+Execute the ROS SLG with the following command
+----------------------------------------------
+java -jar ros2_slg.jar -p input.properties
+
+
+Folder structure
+----------------
+├── input
+│   ├── model.amxmi
+│   └── ros.config
+├── output
+│   └── ...
+├── input.properties
+└── ros2_slg.jar
+
+
+File "ros.config"
+-----------------
+<?xml version="1.0" encoding="UTF-8"?>
+<config:ConfigModel xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:config="http://config"
+
+  platformArchitectureType="aarch64">
+
+  <customTickImpl value=""/>
+  <customReadImpl value=""/>
+  <customWriteImpl value=""/>
+
+</config:ConfigModel>
+
+
+File "input.properties"
+-----------------------
+input_models_folder=./input
+configurationFile=./input/ros.config
+
+output_folder=./output
+log_file=./output/transformation.txt
+m2m_output_folder=./output/m2m_output_models
+m2t_output_folder=./output/m2t_output_text_files
+
+enableExternalCode=true
+experimentalCodeSnippetMatching=false
+enableInstrumentation_Tasks=false
+enableInstrumentation_Runnables=false
+
+generateStatusOutput=true
+generateDebugOutput=true
+
+m2tTransformers=ROS_SLG
+