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

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

Jan 19, 2023 164 likes •328 views

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

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

Tutorial “Model-Driven Software Engineering in Robotics: Models, Tools, Systems, Solutions, Challenges”

Interactive T

  • ol Demo:

Stepwise Migration to Model-Driven Development

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

  • Part I: Mixed Port Components
  • Part II: Middleware Agnostic Modeling

Outline

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

Mixed-Port Components

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

Flexible Navigation Stack

Replacement of Components: Flexible Navigation Stack

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

https://www.youtube.com/watch?v=p466dW-IU4w&t=51s

Mixed-Port Components

Real-World-Example: by CARVE, see Discourse Forum

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

Mixed Port with OPC UA

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

Manipulation Stack

Replacement of Components: Manipulation

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

Replacement of Components: Manipulation with e.DO

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Mixed-Port Components

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

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

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  • Part I: Mixed Port Components
  • Part II: Middleware Agnostic Modeling

Outline

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

RobMoSys User-Story: Middleware Late Binding / Middleware agnostic modeling

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

Middleware agnostic

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

xxxxx

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

Demo: Middleware agnostic modeling

Example: Navigation Stack