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Electronics 2016, 5(3), 53; doi:10.3390/electronics5030053

ROSMOD: A Toolsuite for Modeling, Generating, Deploying, and Managing Distributed Real-time Component-based Software using ROS§

1
Institute for Software Integrated Systems, Electrical Engineering and Computer Science, Vanderbilt University, Nashville, TN 37235, USA
2
Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA
§
This paper is an extended version of our paper published in IEEE International Symposium on Rapid System Prototyping, Amsterdam, The Netherlands, 8–9 October 2015.
*
Author to whom correspondence should be addressed.
Academic Editors: Amer Baghdadi, Gabriela Nicolescu and Frédéric Rousseau
Received: 1 April 2016 / Revised: 23 August 2016 / Accepted: 23 August 2016 / Published: 7 September 2016

Abstract

This paper presents the Robot Operating System Model-driven development tool suite, (ROSMOD) an integrated development environment for rapid prototyping component-based software for the Robot Operating System (ROS) middleware. ROSMOD is well suited for the design, development and deployment of large-scale distributed applications on embedded devices. We present the various features of ROSMOD including the modeling language, the graphical user interface, code generators, and deployment infrastructure. We demonstrate the utility of this tool with a real-world case study: an Autonomous Ground Support Equipment (AGSE) robot that was designed and prototyped using ROSMOD for the NASA Student Launch competition, 2014–2015. View Full-Text
Keywords: rapid; model-driven; development; robotics; distributed; real-time; embedded; cyber-physical; systems rapid; model-driven; development; robotics; distributed; real-time; embedded; cyber-physical; systems
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Kumar, P.S.; Emfinger, W.; Karsai, G.; Watkins, D.; Gasser, B.; Anilkumar, A. ROSMOD: A Toolsuite for Modeling, Generating, Deploying, and Managing Distributed Real-time Component-based Software using ROS. Electronics 2016, 5, 53.

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