ROS Code Generation from Rebeca Model

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Salmani Barzoki, Bahare | 2017

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 51330 (19)
University: Sharif University of Technology
Department: Computer Engineering
Advisor(s): Movaghar, Ali
Abstract:
Robotic Operating System (ROS) is an open source software framework, developed for the needs of robotics software developers and now it has become the standard ¬¬in this area. In this thesis, in order to propose an approach to verification of ROS-based softwares, we defined the mapping from Rebeca modeling language to ROS. To reach this aim, we have studied the main ROS concepts and investigated several ROS-based systems syntactically and operationally. Our mapping includes specifying the corresponding conceptual and syntactical components between Rebeca and ROS, and proposing an algorithm to convert any Rebeca code to the ROS code. We also have developed a tool to automate this conversion. In the meanwhile, based on ROS patterns, we have defined some modeling patterns for the Rebeca modelers to be used when they want to model a potentially ROS-based system.We evaluated the mapping algorithm and our tool against several simple examples and two Case studies, the Kobuki Control System, and Volvo Hauler Machines
Keywords:
Formal Verification ; Model Cheking ; Rebeca Modeling language ; Robotic Operating System ; Actor Model

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