The High-Assurance ROS Framework
Andr\'e Santos (1), Alcino Cunha (1), Nuno Macedo (2) ((1) INESC TEC &, University of Minho, (2) INESC TEC & University of Porto)
TL;DR
The paper introduces HAROS, a framework for static analysis and quality improvement of ROS-based robotics software, enabling model extraction and various analyses to enhance software reliability.
Contribution
HAROS provides an automated static analysis framework for ROS software, integrating model extraction with verification techniques to improve software quality.
Findings
Applied to real-world examples, helping developers identify issues.
Enabled various analyses like Model Checking and Runtime Verification.
Improved software reliability through automated quality assessments.
Abstract
This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis foundation to automatically extract models from the source code. Such models are later used to enable other sorts of analyses, such as Model Checking, Runtime Verification, and Property-based Testing. It has been applied to multiple real-world examples, helping developers find and correct various issues.
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