ROSMOD: A Toolsuite for Modeling, Generating, Deploying, and Managing Distributed Real-time Component-based Software using ROS

摘要

This paper presents the Robot Operating System Model-driven development tool suite, (ROSMOD) an integrated development environment for rapid prototyping component-based software for the Robot Operating System (ROS) middleware. ROSMOD is well suited for the design, development and deployment of large-scale distributed applications on embedded devices. We present the various features of ROSMOD including the modeling language, the graphical user interface, code generators, and deployment infrastructure. We demonstrate the utility of this tool with a real-world case study: an Autonomous Ground Support Equipment (AGSE) robot that was designed and prototyped using ROSMOD for the NASA Student Launch competition, 2014–2015.