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Difference between revisions of "Papyrus/customizations/robotics"
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__NOTOC__ | __NOTOC__ | ||
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| + | = Page will move to [https://gitlab.eclipse.org/eclipse/papyrus/org.eclipse.papyrus-robotics/-/wikis/home P4R wiki on gitlab] = | ||
= Documentation = | = Documentation = | ||
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* [[Papyrus/customizations/robotics/workflow|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 | ||
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* [[Papyrus/customizations/robotics/safecc|Contracts and Assertions]] - How to specify assertions and constraints | * [[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 | ||
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| + | == 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 | ||
| + | * [[Papyrus/customizations/robotics/demos/nav2|Low-Code programming of a Nav2 example]] - Simulated mobile robot with reactive battery management in Nav2 | ||
| + | * [[Papyrus/customizations/robotics/demos/ads|Autonomous vehicle use-case from DIH4AI project]] - Scenario-based validation of behavior tree-based autonomous driving policies in CARLA (using the CARLA/ROS 2 bridge) | ||
== Developer Guidance == | == Developer Guidance == | ||
Latest revision as of 17:36, 7 February 2024
Page will move to P4R wiki on gitlab
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
- Low-Code programming of a Nav2 example - Simulated mobile robot with reactive battery management in Nav2
- Autonomous vehicle use-case from DIH4AI project - Scenario-based validation of behavior tree-based autonomous driving policies in CARLA (using the CARLA/ROS 2 bridge)
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.