A Method of Mapping Between Information Model and ROS

Abstract

This paper proposes a mapping method between ROS (Robot Operating System) and the ISO TC299 WG6"s software information model standard for robot modules, providing interoperability, reusability, and interchangeability. To achieve this, this paper addresses issues such as the representation of data types for IO variables class and role relationships and data types in Services class, which are present in the current version of the information model, and provides solutions to complement them. It proposes mapping methods between the names, type structures, and type names of topics and services, which are used in ROS nodes, and IO variables class and Services class of the information model. To validate the proposed methods, an XML example for the IO variables and the Services classes for the information model is provided. Based on this example, related skeleton codes are generated for ROS nodes with topics and services. The generated skeleton codes are built and executed, and the information specified in the information model is compared to the results obtained from the execution of the generated codes, validating the proposed method.