RSIA: Rate based Static Impact Analysis for robotic systems

Impact set generator for ROS based systems implemented in C++. Tool extracts and uses the message transfer rate information between two components to reduce the impact set size.

• Free software: MIT License

Demonstration

Installation

• Dependencies (Install Guide)
  • ROS (Install instructions)
  • LLVM (version 3.9.0, requires to be built from source code)(link)
  • Clang (version 3.9.0, requires to be built from source code)(link)
  • Pugi-XML (link)
  • Yaml-CPP (link)
  • graphviz (link)
• To Install Dependency Analysis (DA) tool (First Pass) (Second Pass)
• To Install Impact Analysis (IA) tool (click here)
• To Install Helper Tools (HTs) (click here)

Examples

Instructions on how to use RSIA on a sample system can be found here.

Features

Dependency Analysis Tool

• Generates system dependency graph from source code
• Annotation of graph edges with rate-independent labels

Impact Analysis Tool

• DFS based component reachability analysis starting at a changed node
• Configurable stopping conditions for graph exploration
• Simulation of traditional IA techniques

Helper Tools

• Parsing of ROS based .launch files
• Single command build and analysis of the whole system

Credits

NIMBUS Lab at the University of Nebraska, Lincoln.

This work was partially supported by NSF under awards #1526652 and #1638099 and USDA-NIAF #2013-67021-20947.