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Bootstrapping MDE Development from ROS Manual Code - Pt.1: Metamodeling

 
: Hammoudeh Garcia, Nadia; Lüdtke, Mathias; Kortik, Sitar; Kahl, Björn; Bordignon, Mirko

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Postprint urn:nbn:de:0011-n-5377254 (2.7 MByte PDF)
MD5 Fingerprint: c29cbe22a4579469162947ea4439669d
Created on: 26.3.2019


Institute of Electrical and Electronics Engineers -IEEE-:
Third IEEE International Conference on Robotic Computing, IRC 2019. Proceedings : 25-27 February 2019, Naples, Italy
Piscataway, NJ: IEEE, 2019
ISBN: 978-1-5386-9245-5
ISBN: 978-1-5386-9246-2
pp.329-336
International Conference on Robotic Computing (IRC) <3, 2019, Naples>
English
Conference Paper, Electronic Publication
Fraunhofer IPA ()
Robot Operating System (ROS); Model Driven Engineering (MDE); Entwicklungsumgebung; Metamodell

Abstract
Ten years after its first release, the Robot Operating System (ROS) is arguably the most popular software framework used to program robots. It achieved such status despite its shortcomings compared to alternatives similarly centered on manual programming and, perhaps surprisingly, to model-driven engineering (MDE) approaches. Based on our experience as users and developers of both ROS and MDE tools, we identified possible ways to leverage the accessibility of ROS and its large software ecosystem, while providing quality assurance measures through selected MDE techniques. After describing our vision on how to combine MDE and manually written code, we present the first technical contribution in this pursuit: a family of three metamodels to respectively model ROS nodes, communication interfaces, and systems composed from subsystems. Such metamodels can be used, through the accompanying Eclipse-based tooling made publicly available, to model ROS systems of arbitrary complexity and generate with correctness guarantees the software artifacts for their composition and deployment. Furthermore, they account for specifications on these aspects by the Object Management Group (OMG), in order to be amenable to hybrid systems coupling ROS and other frameworks. We also report on our experience with a large and complex corpus of ROS software used in a commercially deployed robot (the Care-O-bot 4), to explain the rationale of the presented work, including the shortcomings of standard ROS tools and of previous efforts on ROS modeling.

: http://publica.fraunhofer.de/documents/N-537725.html