A Model-Based Methodology for Automated Verification of ROS 2 Systems

摘要

To simplify the formal verification of ROS 2-based applications, in this paper, we propose a novel approach to the automation of their model-based verification using model-driven engineering techniques. We propose a methodology starting with ROS 2 execution traces, generated by ROS2_tracing and using models and model transformations in Eclipse to automatically initialize pre-defined formal model templates in UPPAAL, with system parameters. While the methodology targets the simplification of formal verification for robotics developers as users, the implementation is at an early stage and the toolchain is not fully implemented and evaluated. Hence, this paper targets tool developers and researchers to give a first overview of the underlying idea of automating ROS 2 verification.