Modeling ROS Based Applications with AADL

Abstract

This paper presents a library of AADL models for ROS based applications. AADL models are provided for every ROS services, namely nodes, and for complete robots hardware and embedded computer boards. The model of the complete system describes the binding of software onto hardware components, and allows for CPU and bus load analysis. To this purpose, dedicated AADL properties are included into the models, that come from actual measurements onto the hardware platforms.