Interactive T ool Demo: Stepwise Migration to Model-Driven - PowerPoint PPT Presentation

Tutorial “Model-Driven Software Engineering in Robotics: Models, Tools, Systems, Solutions, Challenges” Interactive T ool Demo: Stepwise Migration to Model-Driven Development Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 26

Outline ● Part I: Mixed Port Components ● Part II: Middleware Agnostic Modeling Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 27

Mixed-Port Components Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 28

Replacement of Components: Flexible Navigation Stack Flexible Navigation Stack Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 29

Mixed-Port Components Real-World-Example: by CARVE, see Discourse Forum https://www.youtube.com/watch?v=p466dW-IU4w&t=51s Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 30

Mixed Port with OPC UA Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 31

Replacement of Components: Manipulation Manipulation Stack Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 32

Replacement of Components: Manipulation with e.DO Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 33

Mixed-Port Components

Demo: Mixed-Port Components – Accessing ROS nodes Example: ROS Joystick Tutorial and screencast to reproduce at home: https://wiki.servicerobotik-ulm.de/tutorials:ros:mixed-port-component-ros Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 35

Outline ● Part I: Mixed Port Components ● Part II: Middleware Agnostic Modeling

RobMoSys User-Story: Middleware Late Binding / Middleware agnostic modeling Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 37

Middleware agnostic Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 38

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Demo: Middleware agnostic modeling Example: Navigation Stack Models 2019 – RobMoSys Tutorial – Sept 17 th 2019 – Dennis Stampfer stampfer@hs-ulm.de, Alex Lotz lotz@hs-ulm.de 40