Please use this identifier to cite or link to this item: http://repositorio.inesctec.pt/handle/123456789/10478
Title: Static-Time Extraction and Analysis of the ROS Computation Graph
Authors: André Filipe Santos
Alcino Cunha
Nuno Moreira Macedo
Issue Date: 2019
Abstract: 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. © 2019 IEEE.
URI: http://repositorio.inesctec.pt/handle/123456789/10478
http://dx.doi.org/10.1109/irc.2019.00018
metadata.dc.type: Publication
conferenceObject
Appears in Collections:HASLab - Articles in International Conferences

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