SmartSoft MDSD Toolchain 7 May 2010 / SDIR V - Anchorage
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1 servicerobotics Autonomous Mobile Service Robots / SDIR V - Anchorage Andreas Steck and Christian Schlegel Computer Science Department University of Applied Sciences Ulm
2 servicerobotics Autonomous Mobile Service Robots SDIR 5 - Anchorage Example 1: Servo (RTAI-Linux) Example 2: Navigation Task Example 3: Follow Me - RoboCup@Home Example 4: Cleanup Table Scenario
3 servicerobotics Autonomous Mobile Service Robots Eclipse openarchitectureware PapyrusUML
4 servicerobotics Autonomous Mobile Service Robots idea PSM / PSI deployment runtime
5 le ew p vi m er xa ov o e rv se Example 1: Servo (RTAI-Linux) idea PSM / PSI deployment runtime introduction into overall MDSD process via simple example hard realtime in servo component
6 le ew p vi m er xa ov o e rv se Example 1: Servo (RTAI-Linux) de idea en m oy pl ra g ia td PSM / PSI m deployment runtime SmartServo component - will be created in the following demo SmartJoystickServer component - preexisting component (COTS)
7 le ew p vi m er xa ov o e rv se Example 1: Servo (RTAI-Linux) de idea en m oy pl ra g ia td PSM / PSI m deployment runtime SmartServo component - will be created in the following demo SmartJoystickServer component - preexisting component (COTS)
8 a g nt tin ne ea po a cr m de co i Example 1: Servo (RTAI-Linux) idea PSM / PSI ontime deployment runtime
9 a g nt tin ne ea po cr m co Example 1: Servo (RTAI-Linux) idea M PI deployment ex ut k as tm ar Sm tt ar Sm k as ) tt e ar ltim a Sm(re PSM / PSI runtime create using the elements offered by the SmartSoft MDSD Toolchain palette
10 a g nt tin ne ea po cr m co Example 1: Servo (RTAI-Linux) idea M PI PSM / PSI deployment ex ut k as tm ar Sm tt ar Sm k as ) tt e ar ltim a Sm(re calculate servo position port connected to smartjoystickserver ta gg ed va l ue s control servo runtime
11 a g nt I tin ne PS ea po e cr m rat co ne ge Example 1: Servo (RTAI-Linux) idea Run code generator M PI deployment ex ut k as tm ar Sm tt ar Sm k as ) tt e ar ltim a Sm(re PSM / PSI runtime
12 a g nt I tin ne PS ea po e cr m rat co ne ge Example 1: Servo (RTAI-Linux) idea M PI deployment ex ut k as tm ar Sm tt ar Sm k as ) tt e ar ltim a Sm(re PSM / PSI runtime verification (e.g. QoS)+ transformation (is done by toolchain) executable component
13 a g nt tin ne te ea po ra de cr m eg co co int erus Example 1: Servo (RTAI-Linux) idea M PI tt tm ar Sm ar Sm deployment ex ut k as k as ) tt e ar ltim a Sm(re PSM / PSI runtime verification (e.g. QoS)+ transformation (is done by toolchain) User Code MATLAB / Simulink RTAI-Lab OpenCV / Qt / Kavraki-Lab executable component
14 a g nt M tin ne S ea po P cr m ate co ner ge Example 1: Servo (RTAI-Linux) idea M PI isrealtime = false isperiodic = true isrealtime = false isperiodic = false mapping elements to PSM elements (is done by toolchain) PSM / PSI deployment runtime I PS M PS toolchain generates elements to emulate periodic tasks
15 a g nt M tin ne S ea po P cr m ate co ner ge Example 1: Servo (RTAI-Linux) idea M PI isrealtime = true isperiodic = true isrealtime = false isperiodic = false mapping elements to PSM elements (is done by toolchain) PSM / PSI deployment runtime I PS M PS RTAI-Linux already provides periodic tasks
16 a g nt I tin ne PS ea po e cr m rat co ne ge Example 1: Servo (RTAI-Linux) idea M PS PSM / PSI deployment runtime I PS generate PSI out of PSM elements (is done by toolchain)
17 a g nt tin ne te ea po ra de cr m eg co co int erus Example 1: Servo (RTAI-Linux) I PS idea code added by developer PSM / PSI deployment runtime code added by developer
18 a g nt tin ne te ea po ra de cr m eg co co int erus Example 1: Servo (RTAI-Linux) I PS idea wait for position update (joystickserver) PSM / PSI deployment runtime code added by developer calculate servo position (servoontime)
19 a g nt tin ne te ea po ra de cr m eg co co int erus Example 1: Servo (RTAI-Linux) I PS idea PSM / PSI deployment runtime code added by developer
20 le ew p vi m er xa ov o e rv se Example 1: Servo (RTAI-Linux) de idea en m oy pl ra g ia td PSM / PSI m deployment runtime SmartServo component - created SmartJoystickServer component - preexisting component (COTS)
21 t te en ea m cr oy pl de Example 1: Servo (RTAI-Linux) idea PSM / PSI deployment runtime use these elements to create deployment
22 t te en ea m cr oy pl de Example 1: Servo (RTAI-Linux) idea PSM / PSI deployment deploy to target system and run startscript runtime
23 deployment of COTS components simple replacement of components (P3DX/SICK Player/Stage) robot drives to positions given by operator collision avoidance, map building, path planning, etc. sk ew a vi n t er tio ov ga vi na Example 2: Navigation Task
24 t k en s m ta K oy on IC pl ati /S de vig DX n a P3 Example 2: Navigation Task
25 t k en s m ta ge oy on a pl ati /St de vig yer na Pla Example 2: Navigation Task
26 Live Demo how to create a deployment in define the initial wiring between the components add platform specific details add target platform settings deploy scenario to target run scenario in Player/Stage simulator watch on youtube: attached file: deploy-toolchain.mp4 sk ew a vi n t er tio ov ga vi na Example 2: Navigation Task
27 vi er ov ew Example 3: Follow Me - RoboCup@Home deployment of COTS components reuse for RoboCup@Home robot follows a person through an unstructured environment
28 o pl de t en ym Example 3: Follow Me - RoboCup@Home
29 ew vi er ov Example 3: Follow Me - RoboCup@Home watch on youtube: attached files: followMe.mp followMe.mp4
30 vi er ov deployment of COTS components complex real world scenario in everyday environment robot cleans up the table ew Example 4: Cleanup Table Scenario
31 t en ym o pl de Example 4: Cleanup Table Scenario
32 r baobo se t pl p an at ni h ng sy sp nt ee he ch si s la se (S r r IC an K ge ) r bu m ild ap in g ha vi o r SL AM avcol o li (C idasio D n n L) ce be pa re sp o co e K bj (O th H at e p p e gn c o ku an ct r en lan iti h yo a m ec RA ni on la an og VE ng se ip ni ) r r ul tio an at n ge or r t en ym o pl de Example 4: Cleanup Table Scenario
33 vi er ov ew Example 4: Cleanup Table Scenario watch on youtube: attached file: cleanUpTable.mp4
34 Links
35 Addendum
36 Eclipse Modeling Framework Meta-Modeling Ecore-Metamodel (based on OMG EMOF) M3 meta-meta-model UML M2 meta-model SmartMARS (UML-Profile) MARTE any other meta-model any other meta-model modeling tool M1 model user-model user-model user-model user-model user-model sourcecode sourcecode sourcecode sourcecode sourcecode code generation M0 sourcecode/ text
37
38 Generation Gap Pattern
39 a g nt tin ne w ea po lo cr m rkf co wo Example 1: Servo (RTAI-Linux) PSM PSI CorbaSmartSoft SmartMARS Metamodel M2M CORBA based implementation of SmartSoft (Modeling and Analysis of Robotics Systems) AceSmartSoft oaw xtend check ACE based implementation of SmartSoft M2T oaw xpand check... any other middleware UML2-Profile platform independent stereotypes SmartComponent SmartTask SmartMutex SmartQueryServer SmartEventClient... UML2-Profile platform specific stereotypes has to be created by a middleware expert The User Space can contain arbitrary code and libraries The User Space stays the same independent of the different platform specific models Just the component hull will be created
40 a g nt tin ne w ea po lo cr m rkf co wo PSM PSI CorbaSmartSoft CORBA based implementation of SmartSoft SmartMARS Metamodel M2M (Modeling and Analysis of Robotics Systems) oaw xtend check M2T oaw xpand check UML2-Profile platform independent stereotypes SmartComponent SmartTask SmartMutex SmartQueryServer SmartEventClient... UML2-Profile platform specific stereotypes has to be created by a middleware expert The User Space can contain arbitrary code and libraries The User Space stays the same independent of the different platform specific models Just the component hull will be created
41 a g nt tin ne w ea po lo cr m rkf co wo PSM PSI CorbaSmartSoft CORBA based implementation SmartMARS Metamodel M2M of SmartSoft oawmodel checking + M2M + M2T xtend (Modeling and Analysis of Robotics Systems) check M2T oaw xpand check UML2-Profile platform independent stereotypes SmartComponent SmartTask SmartMutex SmartQueryServer SmartEventClient... UML2-Profile platform specific stereotypes has to be created by a middleware expert The User Space can contain arbitrary code and libraries The User Space stays the same independent of the different platform specific models Just the component hull will be created
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