ROSpec: A Domain-Specific Language for ROS-based Robot Software
summary
A DSL that encodes ROS component constraints and checks integration before run time, using liquid and dependent types over parameters, topics and QoS; evaluated by modeling a Neobotics-style warehouse robot with 19 components in a ~500-line ROSpec and by analyzing 182 real-world misconfiguration questions, yielding a manual specification corpus and detected 61/123 errors (26 cases lacked config data); implemented as an external DSL with a web demo and reusable artifacts.
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chapters (12)
- 0:00Introduction
- 1:09What is ROS ecosystem
- 2:13ROS component misconfigurations
- 3:16ROSSpec concept
- 4:39ROSSpec design stakeholders
- 5:22ROSSpec features overview
- 6:25Liquid types for configs
- 7:26QoS policies in ROSSpec
- 9:12Evaluating ROSSpec
- 10:39Testing against misconfigs
- 12:28Conclusion future work
- 12:53Q&A
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