Abstract
In robotics we are often faced with the problem of repeatedly writing robot drivers for the same devices, but different robot frameworks. In an effort to counter this, a domain specific language for generating robot drivers was developed. However, descriptions tend to get verbose fast and the adopted syntax was difficult for programmers. This paper outlines an attempt to shift away from a textual syntax and toward a visual syntax, instead relying on the textual syntax to communicate the model to other tools. In addition, a formalism for defining ROS nodes is presented and a model transformation for mapping RDIS messages to ROS messages and vice-versa is created.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Anderson, M., Kilgo, P., Bowman, J.: RDIS: Generalizing domain concepts to specify device to framework mappings. In: International Conference on Robotics and Automation (May 2012)
Anderson, M., Kilgo, P., Crawford, C., Stanforth, M.: Work in progress: Enabling robot device discovery through robot device descriptions. In: 2nd International Workshop on Domain-Specific Languages and Models for ROBotic Systems (September 2011)
Baillie, J.C.: URBI: towards a universal robotic low-level programming language. In: IEEE International Conference on Robotics and Automation (2007)
Crockford, D.: The application/json Media Type for JavaScript Object Notation (JSON). RFC 4627 (Informational) (July 2006), http://www.ietf.org/rfc/rfc4627.txt
Gerkey, B.P., Vaughan, R.T., Howard, A.: The player/stage project: Tools for multi-robot and distributed sensor systems. In: Proceedings of the 11th International Conference on Advanced Robotics, pp. 317–323 (2003)
de Lara, J., Vangheluwe, H.: AToM3: A Tool for Multi-formalism and Meta-modelling. In: Kutsche, R.-D., Weber, H. (eds.) FASE 2002. LNCS, vol. 2306, pp. 174–188. Springer, Heidelberg (2002), http://dx.doi.org/10.1007/3-540-45923-5_12
OMG: Robotic Technology Component (RTC) 1.0. Tech. rep., Object Management Group (April 2008)
OMG: Super Distributed Object (SDO) 1.1. Tech. rep., Object Management Group (October 2008)
OMG: Robot Localization Service (RLS) 1.0. Tech. rep., Object Management Group (February 2010)
Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., Ng, A.: ROS: an open-source robot operating system. In: Proc. Open-Source Software workshop of the International Conference on Robotics and Automation, ICRA (2009)
Schlegel, C., Hassler, T., Lotz, A., Steck, A.: Robotic software systems: From code-driven to model-driven designs. In: International Conference on Advanced Robotics, ICAR 2009, pp. 1–8 (June 2009)
Schultz, U., Christensen, D., Stoy, K.: Automatic program generation for embedded systems. In: Proceedings International Conference on Advanced Robotics, ICAR 2009, pp. 28–36 (October 2007)
Steck, A., Schlegel, C.: Towards quality of service and resource aware robotic systems through model-driven software development. CoRR abs/1009.4877 (2010)
Trojanek, P.: Model-driven engineering approach to design and implementation of robot control system. In: 2nd International Workshop on Domain-Specific Languages and Models for ROBotic Systems (2011)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kilgo, P., Syriani, E., Anderson, M. (2012). A Visual Modeling Language for RDIS and ROS Nodes Using AToM3 . In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2012. Lecture Notes in Computer Science(), vol 7628. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34327-8_14
Download citation
DOI: https://doi.org/10.1007/978-3-642-34327-8_14
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34326-1
Online ISBN: 978-3-642-34327-8
eBook Packages: Computer ScienceComputer Science (R0)