ROS2 is an increasingly popular middleware framework for developing robotic applications. A ROS2 applicationbasically is composed of nodes that run concurrently and can be deployed distributedly. ROS2 nodes communicatewith each other through asynchronous interfaces; they reside in memory and wait to respond events that circulatearound the system during the interactions between the robot(s) and the environment. Rebeca is an actor-basedlanguage for modelling asynchronous, concurrent applications. Timed Rebeca added timing features to Rebeca todeal with timing requirements of real-time systems. The similarities in the concurrency and message-basedasynchronous interactions ofreactive nodes justify the relevance of using Timed Rebeca to assist the developmentand verification of ROS2 applications. Model-based development and model checking allow quicker prototypingand earlier detection ofsystem errors without the requirement of developing the entire real system. However, thereare challenges in bridging the gaps between continuous behaviours in a real robotic system and discrete behavioursin a model, between complex computations in a robotic system and the inequivalent programming facilities in amodelling language. There have been previous attempts in mapping Rebeca to ROS, however they could not beput into practice due to over-simplifications or improper modelling approaches. This thesis addresses the problemfrom a more systematic perspective and has been successful in modelling a realistic multiple autonomous mobilerobots system, creating corresponding ROS2 demonstration code, showing the synchronization between the modeland the program to prove the values of the model in driving development and automatic verification of correctnessproperties (freedom ofdeadlocks, collisions, and congestions). Stability of model checking results confirms designproblems that are not always detected by simulation. The modelling principles, modelling and implementingtechniques that are invented and summarized in this work can be reused for many other cases.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:mdh-63215 |
| Date | January 2023 |
| Creators | Trinh, Hong Hiep |
| Publisher | Mälardalens universitet, Akademin för innovation, design och teknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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