Abstract
Modern industry is shifting towards flexible, advanced robotic systems to meet the increasing demand for custom-made products with low manufacturing costs and to promote a collaborative environment for humans and robots. As a consequence of this industrial revolution, some traditional, mechanical- and hardware-based safety mechanisms are discarded in favour of a safer, more dependable robot software. This work presents a case study of assessing and improving the internal quality of a European research mobile manipulator, operating in a real industrial environment, using modern static analysis tools geared for robotic software. Following an iterative approach, we managed to fix about 90% of the reported issues, resulting in code that is easier to use and maintain.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Emanuelsson, P., Nilsson, U.: A comparative study of industrial static analysis tools. Electron. Notes Theor. Comput. Sci. 217, 5–21 (2008)
Lasi, H., Fettke, P., Kemper, H.G., Feld, T., Hoffmann, M.: Industry 4.0. Bus. Inf. Syst. Eng. 6(4), 239–242 (2014)
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software, Kobe, Japan, vol. 3, p. 5 (2009)
Santos, A., Cunha, A., Macedo, N., Arrais, R., dos Santos, F.N.: Mining the usage patterns of ROS primitives. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3855–3860, September 2017
Santos, A., Cunha, A., Macedo, N., Lourenço, C.: A framework for quality assessment of ROS repositories. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4491–4496, October 2016
Santos, A., Cunha, A., Macedo, N.: Static-time extraction and analysis of the ROS computation graph. In: 2019 Third IEEE International Conference on Robotic Computing (IRC), pp. 62–69. IEEE (2019)
Sha, L., Gopalakrishnan, S., Liu, X., Wang, Q.: Cyber-physical systems: a new frontier. In: 2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing (SUTC 2008), pp. 1–9 (2008). http://ieeexplore.ieee.org/document/4545732/
Toscano, C., Arrais, R., Veiga, G.: Enhancement of industrial logistic systems with semantic 3D representations for mobile manipulators. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds.) ROBOT 2017: Third Iberian Robotics Conference, pp. 617–628. Springer, Cham (2018)
Acknowledgments
This work is financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme and by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia within project POCI-01-0145-FEDER-029583. The research leading to these results has also received funding from the European Union’s Horizon 2020 - The EU Framework Programme for Research and Innovation 2014–2020, under grant agreement No. 777096.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Neto, T., Arrais, R., Sousa, A., Santos, A., Veiga, G. (2020). Applying Software Static Analysis to ROS: The Case Study of the FASTEN European Project. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1092. Springer, Cham. https://doi.org/10.1007/978-3-030-35990-4_51
Download citation
DOI: https://doi.org/10.1007/978-3-030-35990-4_51
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-35989-8
Online ISBN: 978-3-030-35990-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)