Model Driven Software Development in Service Robotics It really works!
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- Joan Gilmore
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1 servicerobotics Autonomous Mobile Service Robots in Service Robotics It really works! Prof. Dr. Christian Schlegel Computer Science Department University of Applied Sciences Ulm AG Schlegel: M.Sc. Siegfried Hochdorfer, B.Sc. Alex Lotz, B.Sc. Matthias Lutz, B.Sc. Dennis Stampfer, B.Sc. Andreas Steck, B.Sc. Jonas Brich, B.Sc. Manuel Wopfner
2 Example / Navigation Task
3 SmartMDSD Illustration of our development process UML 2.0 profile for robotics component model covers component development, system composition, deployment based on standards: UML 2.0, Open Architecture Ware, Eclipse, etc. different runtime platforms, middleware systems etc.
4 SmartMDSD
5 SmartMDSD Benefits of our development process: get rid of hand-crafted single unit service robot systems compose them out of standard components with explicitly stated properties be able to reuse / modify solutions expressed at a model level take advantage from the knowledge of software engineers that is encoded in the code transformators be able to verify properties (or at least provide conformance checks) be able to address resource awareness!! and many many more good reasons Engineering the software development process in robotics is one of the basic necessities towards industrial-strength service robotic systems
6 SmartMDSD Experience made with our development process systematically handle integration of systems of the complexity of service robots and to overcome plumbing tools like OpenArchitectureWare, Eclipse etc. are matured enough to be used in robotics there are many experienced people out there being already familiar with the tools, can start immediately using them and can just focus on robotics design patterns, best practices, approved solutions can be made available within the code generators such that even novices can immediately take advantage from that coded and immense experience provides the perfect granularity for system design, component development, composability, freedom within components, tool support etc.
7 Examples / Simulation Player/Stage
8 Examples / SmartMDSD / Real-Time Task
9 Examples / Robocup@Home / FollowMe
10 Examples / Robocup@Home / WhoIsWho
11 Metamodels (partial view)
12 Metamodels (partial view)
13 It is all available (LGPL)... Toolchain based on Open Architecture Ware - fully integrated into Eclipse - MDSD Toolchain Example - PIM: SmartMARS robotics profile (Modeling and Analysis of Robotics Systems) - PSM: SmartSoft in different implementations but with the same semantics! - can be easily adapted to different profiles / profile extensions / PSMs Short Summary on SmartSoft [LGPL] CORBA (ACE/TAO) based SmartSoft on sourceforge with various robotics components and simulators etc. in use in research and industry - ACE (without CORBA) based SmartSoft on sourceforge [Linux, Windows] in use in research and industry - oaw Toolchain for SmartSoft on sourceforge (including Screencasts and Tutorials)
![- can be easily adapted to different profiles / profile extensions / PSMs Short Summary on SmartSoft [LGPL] - http://smart-robotics.sourceforge.net/ - http://www.zafh-servicerobotik.](/docs-images/44/12452764/images/page_13.jpg "de/ulm/en/smartsoft.php - CORBA (ACE/TAO) based SmartSoft on sourceforge with various robotics components and simulators etc.")
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