The Robot Operating System (ROS) is a popular software framework to develop and execute software for robot systems. ROS supports component-based development and provides a communication layer for easy integration. It supports three interaction patterns that are essential for control systems: the publish-subscribe pattern, the remote procedure call pattern and the goal-feedback-result pattern. In this paper we apply Petri nets to develop a structured design method for ROS systems, such that the weak termination property is guaranteed. The method is based on stepwise refinement using three interaction patterns and components modeled as state machines. The method is illustrated with a case study of robot ROSE.
|Title of host publication||Applications and Theory of Petri Nets (33rd International Conference, Petri Nets 2012, Hamburg, Germany, Newcastle, June 25-29, 2012. Proceedings)|
|Place of Publication||Berlin|
|Publication status||Published - 2012|
|Name||Lecture Notes in Computer Science|