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Applying MDE to ROS Systems: A Comparative Analysis

Authors :
Ileana Ober
Iulian Ober
Raquel Oliveira
Mickael Trezzy
Advancing Rigorous Software and System Engineering (IRIT-ARGOS)
Institut de recherche en informatique de Toulouse (IRIT)
Université Toulouse 1 Capitole (UT1)
Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3)
Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP)
Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse 1 Capitole (UT1)
Université Fédérale Toulouse Midi-Pyrénées
Source :
Scientific Annals of Computer Science, Scientific Annals of Computer Science, Alexandru Ioan Cuza University Publishing House, 2021, 31 (1), pp.111-144. ⟨10.7561/sacs.2021.1.111⟩, Scientific Annals of Computer Science, Vol XXXI, Iss 1, Pp 111-144 (2021)
Publication Year :
2021
Publisher :
Scientific Annals of Computer Science, 2021.

Abstract

International audience; The Robot Operating System (ROS) is one of the most used software framework to develop robot applications. Although it is possible to reuse packages and code from other ROS projects, ROS applications remain low level and reasoning at a higher level of abstraction is not possible. Using Model-Driven Engineering (MDE) in the context of ROS applications would allow to increase the accessibility of ROS, leverage the reusability of packages and supply validation of the software earlier in the design, using formal methods. For instance, formal verification methods would improve the overall dependability of robotic systems. Our view is that we should increase the abstraction of the systems through models using MDE methodology in order to enable the use of formal methods on ROS applications. In this paper we do a first step toward this and propose a comparative study of existing modeling alternatives aiming to help roboticists to smoothly adopt MDE. This study compares the use of modeling in ROS systems in three different ways: by means of direct UML modeling, a ROS UML profile and a ROS Domain-Specific Language. That allows us to pick the solution that better fits our needs.

Details

ISSN :
22482695 and 18438121
Volume :
31
Database :
OpenAIRE
Journal :
Scientific Annals of Computer Science
Accession number :
edsair.doi.dedup.....8e1d779971aebde6fda48dfacaa08fc9