MeROS: SysML-Based Metamodel for ROS-Based Systems

IF 3.4 3区计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Access Pub Date : 2023-08-03 DOI:10.1109/ACCESS.2023.3301727

Tomasz Winiarski

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引用次数: 1

Abstract

The complexity of today’s robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and correctness of the created application models. Although the use of frameworks is widespread nowadays, for the most popular of them, Robot Operating System (ROS), a contemporary metamodel has been missing so far. This article proposes a new metamodel for ROS called MeROS, which addresses the running system and developer workspace. The ROS comes in two versions: ROS 1 and ROS 2. The metamodel includes both versions. In particular, the latest ROS 1 concepts are considered, such as nodelet, action, and metapackage. An essential addition to the original ROS concepts is the grouping of these concepts, which provides an opportunity to illustrate the system’s decomposition and varying degrees of detail in its presentation. The metamodel is derived from the requirements and verified on the practical example of Rico assistive robot. The matter is described in a standardised way in SysML (Systems Modeling Language). Hence, common development tools that support SysML can help develop robot controllers in the spirit of SE.

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MeROS:用于基于ros系统的基于sysml的元模型

当今机器人控制系统的复杂性意味着难以高效可靠地开发它们。系统工程(SE)和框架可以提供帮助。需要框架元模型来支持所创建的应用程序模型的标准化和正确性。尽管现在框架的使用很广泛，但对于其中最流行的机器人操作系统(ROS)，到目前为止还缺少一个当代的元模型。本文为ROS提出了一个名为MeROS的新元模型，它处理正在运行的系统和开发人员工作空间。ROS有两个版本:ROS 1和ROS 2。元模型包括这两个版本。特别是，考虑了最新的ROS 1概念，例如节点、操作和元包。原始ROS概念的一个重要补充是对这些概念进行分组，这提供了一个机会来说明系统的分解和其表示中的不同程度的细节。根据需求推导出元模型，并在Rico辅助机器人的实例上进行了验证。该问题在SysML(系统建模语言)中以标准化的方式进行描述。因此，支持SysML的通用开发工具可以帮助开发符合SE精神的机器人控制器。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

9.80

自引率

7.70%

发文量

6673

审稿时长

6 weeks

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