Static-time Extraction and Analysis of the ROS Computation Graph

• Type: Article in International Conference Proceedings Book
• Date: 2019

Authors

Santos, A (Author) Other; Cunha, A (Author) Other; Macedo, N (Author) Other

Conference proceedings International

Title: 2019 THIRD IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC 2019)

Pages: 62-69

3rd IEEE International Conference on Robotic Computing (IRC)

Naples, ITALY, FEB 25-27, 2019

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 8 Citations

Other information

Authenticus ID: P-00Q-FA8

DOI: 10.1109/irc.2019.00018

Abstract (EN): The Robot Operating System (ROS) is one of the most popular open source robotic frameworks, and has contributed significantly to the fast development of robotics. Even though ROS provides many ready-made components, a robotic system is inherently complex, in particular regarding the architecture and orchestration of such components. Availability and analysis of a system's architecture at compile time is fundamental to ease comprehension and development of higher-quality software. However, ROS developers have to overcome this complexity relying mostly on testing and runtime visualisers. This work aims to enhance static-time support by proposing, firstly, a metamodel to describe the software architecture of ROS systems (the ROS Computation Graph) and, secondly, model extraction and visualisation tools for such architectural models. The provided tools allow users to specify custom-made queries over these models, enabling the static verification of relevant properties that had to be (manually) checked at runtime before.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8