A visual modeling language for RDIS and ROS nodes using AToM3

Authors:
Paul Kilgo;Eugene Syriani;Monica Anderson
Affiliations:
Computer Science Department, The University of Alabama, Tuscaloosa, AL;Computer Science Department, The University of Alabama, Tuscaloosa, AL;Computer Science Department, The University of Alabama, Tuscaloosa, AL
Venue:
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Year:
2012

Citing 1
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AToM3: A Tool for Multi-formalism and Meta-modelling

FASE '02 Proceedings of the 5th International Conference on Fundamental Approaches to Software Engineering

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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.