RosTooling
Welcome to the RosTooling documentation page! :)
The RosTooling aims to bridge the advantages of ROS with those of model-driven software development. At its core are a set of models that describe “every day” code developed by ROS developers, both at the component and system levels. These models are supported with different types of tools including model extractors from code, validators and code generators.
We invite you to take a look at the tutorials to learn more about this tooling and its uses.
The source code of the entire implementation of the tooling is completely open-source, contributions, feedback and suggestions are always welcome.
Installation
Models Review
The RosTooling divides the ROS concepts into three layers of models:
- Ros objects models: they represent the interface types. In ROS world the message, services and action types. This file has the .ros extension and allows a yaml format similar to the ROS .msgs, .srvs and .action files.
- Ros packages (component) models: they represent the filesystem level of ROS packages, as well as the computational graph. In other words, the package description, the implemented artifacts and the communication ports the nodes offer. They have two different implementations, for ROS (1) (.ros1 extension) or for ROS 2 (.ros2 extension files.)
- Ros System models: they represent the ROS nodes as components present in a system and the connections among them. The file extension of this type of model is .rossystem.
Components (.ros1, .ros2)
Communication objects (.ros)
Systems (.rossystem)
Tutorials
All tutorials were created on Linux. In addition, some of them require a local installation of ROS 2, whose are marked with the logo (
). The modeling part should run on other OS so far Eclipse is properly installed and also the required Java packages (jre and jdk), the current version of the RosTooling requires Java 19 or higher.
In case you have already installed the RosTooling, we recommend to pull always the latest version, go to “Help”->”Check for Updates”, in case a new version is available it will be proposed to be updated.
If you get issues during the execution of these tutorials please report them under the following https://github.com/ipa320/RosTooling.github.io/issues. In case you don’t have a GitHub account, please just send an email to nhg@ipa.fhg.de.
Also, we will be very thankful if once you complete the tutorials you take 15 minutes to fulfill our survey, this will help us to improve our solution: Survey link.
Many thanks for your help :)
Components
- Review models and use of textual editor
(Optional) Create your own model- Generate code from model description ()
- Extract models using static code analysis (
) - Extract component models using introspection at runtime ()
Systems
- Review models and use of textual editor
- Other ways to define a system
- Code generator review
- System Models visualization
- Real use cases execution: