Ros Model

The main purpose of this effort is to combine the advantages of ROS and Model-Driven-Engineering techniques. This repository holds a family of metamodels defined as ecore models that together with its java and Xtext and Xtend grammar implementations facilitates the use of a set of tools and graphical plug-ins to create models from ROS code, compose and validate the composition of models, autogenerate deployment artifacts and check the use of standard specifications.

Technical Maintainer: ipa-nhg (Nadia Hammoudeh Garcia, Fraunhofer IPA) - [email protected]

Projects/Links related to this repository:

• Eclipse Tooling update site: the update site

Related repositories:

• Python implementation for the static code analyzers and docker containers setups for different ROS distros: ros-model-extractors
• Language server for the RosModels (web-based models editor): theia-ros-model
• Python parsers (packed as a ROS package) for the ROS and ROSsystem models: ros_model_parser
• Web interface to automatically extract models from public source code: model extractor
• Source code for the web interface (extract models for non-public available ROS packages): ros-model-cloud
• Runtime monitoring pipeline rosgraph_monitor

Publications:

• Paper: Bootstrapping MDE Development from ROS Manual Code - Part 1: Metamodeling IRC19 paper
• Paper: Bootstrapping MDE Development from ROS Manual Code - Part 2: Model Generation Models paper
• Journal Paper: Bootstrapping MDE development from ROS manual code - Part 2: Model generation and leveraging models at runtime and SoSym paper

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ROS TOOLING MANUAL

Installation

• (Recommended) From release version
• Install the entire SeRoNet toolchain
• From Source code

Tutorials

• Create a model from your code:

  • (Prerequisite) Add communication objects
  • Create new ROS components
  • Create a ROS model from your source code(static code analyzer)
  • Generation of code from models
  • Parameters definition

• Combine components to form a ROS System

  • Define using the tooling a ROS system as a composition of components
  • Create a ROS system model from your source code (static code analyzer)
  • System Model extraction using introspection at runtime

• Features

  • Compare your model with a Specification
  • Introspection at design time
  • Models combination
  • Interoperability with other frameworks:
    • Connect your ROS project with SeRoNet

• Update Release versions (only for administrators)

Model examples

The ros-model-experiments repository holds some examples of models auto-generated using the tooling and its facilities.