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Difference between revisions of "Papyrus/customizations/robotics"
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== User Guidance == | == User Guidance == | ||
| − | * General Workflow | + | * [[Papyrus/customizations/robotics/workflow|General Workflow]] |
| + | * [[Papyrus/customizations/robotics/robmosys|RobMoSys compliance]] | ||
* [[Papyrus/customizations/robotics/servicedef|Service Definition]] - How to create a service definition | * [[Papyrus/customizations/robotics/servicedef|Service Definition]] - How to create a service definition | ||
* [[Papyrus/customizations/robotics/compdef|Component Definition]] - How to create a component definition | * [[Papyrus/customizations/robotics/compdef|Component Definition]] - How to create a component definition | ||
| Line 17: | Line 18: | ||
* [[Papyrus/customizations/robotics/bt|Task Modelling]] - Use or define new skill definitions to describe robotics tasks as behavior trees | * [[Papyrus/customizations/robotics/bt|Task Modelling]] - Use or define new skill definitions to describe robotics tasks as behavior trees | ||
| − | + | * [[Papyrus/customizations/robotics/hara|Task-based HARA]] - Learn how to perform hazard analysis and risk assessment (HARA) of robotic behaviors. | |
| − | + | ||
| − | + | ||
<!-- * [[Papyrus/customizations/robotics/fta|Fault tree analysis]] - tbd. --> | <!-- * [[Papyrus/customizations/robotics/fta|Fault tree analysis]] - tbd. --> | ||
| + | * [[Papyrus/customizations/robotics/eitus|Fault Injection]] - Specification of fault injections | ||
| + | * [[Papyrus/customizations/robotics/safecc|Contracts and Assertions]] - How to specify assertions and constraints | ||
| − | * [[Papyrus/customizations/robotics/ros2|Code generation (for | + | * [[Papyrus/customizations/robotics/ros2|Code generation (for ROS 2)]] |
| − | * [[Papyrus/customizations/robotics/reverse|Reverse Engineering (from | + | * [[Papyrus/customizations/robotics/reverse|Reverse Engineering (from ROS 2)]] |
* Simulation | * Simulation | ||
| + | |||
| + | == Application Examples == | ||
| + | |||
| + | * [[Papyrus/customizations/robotics/demos/pick-and-place|Pick-and-Place use-case from RobMoSys project]] - The description of the pick and place task and its execution with the behavior tree in simulation using ISybot robot | ||
| + | * [[Papyrus/customizations/robotics/demos/drone|Drone use-case from C4D project]] - Simulated reactive drone navigation and landing using behavior trees | ||
== Developer Guidance == | == Developer Guidance == | ||
Revision as of 05:26, 1 March 2023
Documentation
Introduction
- Installation - Installation instructions
- Getting started - Introduction to the concept of ecosystem tiers and the approach for the composition of software components.
- Modular and role based design - General Concepts (supported diagrams depending on the modeling viewpoint)
User Guidance
- General Workflow
- RobMoSys compliance
- Service Definition - How to create a service definition
- Component Definition - How to create a component definition
- System Design - How to design a system
- Task Modelling - Use or define new skill definitions to describe robotics tasks as behavior trees
- Task-based HARA - Learn how to perform hazard analysis and risk assessment (HARA) of robotic behaviors.
- Fault Injection - Specification of fault injections
- Contracts and Assertions - How to specify assertions and constraints
Application Examples
- Pick-and-Place use-case from RobMoSys project - The description of the pick and place task and its execution with the behavior tree in simulation using ISybot robot
- Drone use-case from C4D project - Simulated reactive drone navigation and landing using behavior trees
Developer Guidance
- Release Roadmap
- Development Conventions, see Papyrus coding standards
- Quality Assurance
- Installation of the Development Environment
- Build process
Other Documentation
- Publications
- FAQ
- Community -- RobMoSys wiki, Papyrus forum (please prefix a subject with [Robotics] or [Robotics, ROS2])
- Bug reporting: use the Eclipse bugzilla to report it. In the following link, the product (Papyrus) and the the component (Robotics) are already selected File a Papyrus for Robotics bug. Use the same naming convention as for the forum, i.e. prefix with [Robotics] or [Robotics, ROS2] and check out whether the bug is eventually already existing (the browser proposes possible existing bugs as you type your bug title]. Please make also sure that the steps to reproduce the bug are clearly described, eventually add your model.