EzSkiROS: A Case Study on Embedded Robotics DSLs to Catch Bugs Early
Rizwan, Momina LU
; Caldas, Ricardo
; Reichenbach, Christoph
LU
and Mayr, Matthias
LU
(2023)
p.61-68
- Abstract
- When we develop general-purpose robot software components, we rarely know the full context that they will execute in. This limits our ability to make predictions, including our ability to detect program bugs early. Since running a robot is an expensive task, finding errors at runtime can prolong the debugging loop or even cause safety hazards. In this paper, we propose an approach to help developers find bugs early with minimal additional effort by using embedded Domain-Specific Languages (DSLs) that enforce early checks. We describe DSL design patterns suitable for the robotics domain and demonstrate our approach for DSL embedding in Python, using a case study on an industrial tool SkiROS2, designed for the composition of robot skills. We... (More)
- When we develop general-purpose robot software components, we rarely know the full context that they will execute in. This limits our ability to make predictions, including our ability to detect program bugs early. Since running a robot is an expensive task, finding errors at runtime can prolong the debugging loop or even cause safety hazards. In this paper, we propose an approach to help developers find bugs early with minimal additional effort by using embedded Domain-Specific Languages (DSLs) that enforce early checks. We describe DSL design patterns suitable for the robotics domain and demonstrate our approach for DSL embedding in Python, using a case study on an industrial tool SkiROS2, designed for the composition of robot skills. We demonstrate our patterns on the embedded DSL EzSkiROS and show that our approach is effective in performing safety checks while deploying code on the robot, much earlier than at runtime. An initial study with SkiROS2 developers show that our DSL-based approach is useful for early bug detection and improving the maintainability of robot code. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8a682a4e-d789-4636-ad1f-917a7e3811d3
- author
- Rizwan, Momina
LU
; Caldas, Ricardo
; Reichenbach, Christoph
LU
and Mayr, Matthias
LU
- organization
- publishing date
- 2023-07-26
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Domain Specific Languages, Program analysis, Robotics middleware, Robotics, Design Patterns, Bug detection, Robot Skills
- host publication
- 2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE)
- pages
- 8 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- scopus:85167816310
- ISBN
- 979-8-3503-0185-4
- 979-8-3503-0184-7
- DOI
- 10.1109/RoSE59155.2023.00014
- project
- RobotLab LTH
- Efficient Learning of Robot Skills
- Robotics and Semantic Systems
- WASP Professor Package: Cognitive Robots for Manufacturing
- WASP startup package Christoph Reichenbach
- Domain-Specific Robot Programming for Reliability, Safety, and Availability
- language
- English
- LU publication?
- yes
- id
- 8a682a4e-d789-4636-ad1f-917a7e3811d3
- date added to LUP
- 2023-08-29 14:49:59
- date last changed
- 2024-04-20 02:08:39
@inproceedings{8a682a4e-d789-4636-ad1f-917a7e3811d3,
abstract = {{When we develop general-purpose robot software components, we rarely know the full context that they will execute in. This limits our ability to make predictions, including our ability to detect program bugs early. Since running a robot is an expensive task, finding errors at runtime can prolong the debugging loop or even cause safety hazards. In this paper, we propose an approach to help developers find bugs early with minimal additional effort by using embedded Domain-Specific Languages (DSLs) that enforce early checks. We describe DSL design patterns suitable for the robotics domain and demonstrate our approach for DSL embedding in Python, using a case study on an industrial tool SkiROS2, designed for the composition of robot skills. We demonstrate our patterns on the embedded DSL EzSkiROS and show that our approach is effective in performing safety checks while deploying code on the robot, much earlier than at runtime. An initial study with SkiROS2 developers show that our DSL-based approach is useful for early bug detection and improving the maintainability of robot code.}},
author = {{Rizwan, Momina and Caldas, Ricardo and Reichenbach, Christoph and Mayr, Matthias}},
booktitle = {{2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE)}},
isbn = {{979-8-3503-0185-4}},
keywords = {{Domain Specific Languages; Program analysis; Robotics middleware; Robotics; Design Patterns; Bug detection; Robot Skills}},
language = {{eng}},
month = {{07}},
pages = {{61--68}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{EzSkiROS: A Case Study on Embedded Robotics DSLs to Catch Bugs Early}},
url = {{http://dx.doi.org/10.1109/RoSE59155.2023.00014}},
doi = {{10.1109/RoSE59155.2023.00014}},
year = {{2023}},
}