ROSSi A Graphical Programming Interface for ROS 2

Constantin Wanninger, Sebastian Rossi, Martin Schörner, A. Hoffmann, Alexander Poeppel, Christian Eymueller, W. Reif
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Abstract

The Robot Operating System (ROS) offers developers a large number of ready-made packages for developing robot programs. The multitude of packages and the different interfaces or adapters is also the reason why ROS projects often tend to become confusing. Concepts of model-driven software development using a domain-specific modeling language could counteract this and at the same time speed up the development process of such projects. This is investigated in this paper by transferring the core concepts from ROS 2 into a graphical programming interface. Elements of established graphical programming tools are compared and approaches from modeling languages such as UML are used to create a novel approach for graphical development of ROS projects. The resulting interface is evaluated through the development of a project built on ROS, and the approach shows promise towards facilitating work with the Robot Operating System.
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ros2的图形化编程界面
机器人操作系统(ROS)为开发人员提供了大量用于开发机器人程序的现成软件包。大量的包和不同的接口或适配器也是ROS项目经常变得令人困惑的原因。使用特定于领域的建模语言的模型驱动软件开发的概念可以抵消这一点,同时加速此类项目的开发过程。本文通过将ROS 2的核心概念转换为图形编程界面来研究这一点。对已建立的图形编程工具的元素进行比较,并使用来自建模语言(如UML)的方法来创建ROS项目的图形化开发的新方法。通过开发基于ROS的项目来评估生成的接口,该方法有望促进机器人操作系统的工作。
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