ROS engineering workbench based on semantically enriched app models for improved reusability

In this work, the ReApp Engineering Workbench and its underlying semantically enriched app models are presented. The usage of a model, which describes the apps functionality, interfaces and other attributes, allows the utilization of engineering tools for code generation and automated testing. Further, it ensures the compatibility of the generated interfaces, which in turn enhances the reusability of the developed apps in larger applications.