COMP4DRONES - User contributions [en]

WP6-P4R

2022-03-23T13:20:50Z

Cea: /* Model driven engineering: Papyrus For Robotics */

=Model driven engineering: Papyrus For Robotics=
{|class="wikitable"
| ID|| WP6-CEA
|-
| Contributor || CEA
|-
| Levels || Tool, Platform
|-
| Require || n.a.
|-
| Provide || n.a.
|-
| Input || RobMoSys compliant models (component definition, system architecture, high-level behavior)
|-
| Output || ROS2 code generation, BT XML format
|-
| C4D tooling || n.a.
|-
| TRL || 5
|}

== Detailed Description ==

Papyrus for Robotics is an open-source, Eclipse-based modelling tool for robotic system. It is a
customization of the Papyrus UML modelling tool. Papyrus for Robotics conforms to the RobMoSys
modelling approach. This implies that the tool supports different views for different roles/stakeholders,
for instance a service designer, a component developer and a safety as well as system architect. The
different roles are grouped in different tiers as shown in the Figure below.

[[File:p4r-robmosys-composition.png|center|RobMoSys composition structures [RobMoSys wiki]]

Tier 1 defines the composition structures, tier 2 domain models and tier 3 content produced by eco-
system users. Translated to Papyrus for Robotics, the composition structures are the UML meta-model
in combination with a Robotics UML profile, the domain models include model libraries that have been
defined by domain experts and come in form of pre-packaged model libraries. Tier 3 are concrete
component definition, system assembly and high-level behaviour models. The difference stakeholders
are shown in the following image.

[[File:p4r-tiers+roles.png|800px|center|Roles in Papyrus for Robotics]]

The pyramid is broken down to different views of the model and the stakeholders, as shown in Figure
44. The tool does not require a process in which the different steps are executed, but there are implicit
dependencies. For instance, a component definition requires the existence of service definitions in order
to specify the ports, and a system can only be built once the contained components are defined.

== Role in V-Cycle ==

[[File:p4r-vshape.png|800px|center|Scope of Papyrus for Robotics in the V-cycle]]

Within the V-Shape picture, Papyrus4Robotics covers the software related aspects of system, sub-
system, and component-level aspects: notably, System requirements (with a focus on IT requirements),
the analysis and design with mapping information related to requirements, followed then by a detailed
design (assembly of components). The generation of a software system facilitates the system integration
by enabling a specification of an assembly of component instances along with their configuration. The
system verification and acceptation can be done via simulation. It is planned to add existing Papyrus
mechanisms related to compositional performance analysis in a future release.

== Interoperability with other C4D tools ==

[[File:p4r-interoperability.png|800px|center|Papyrus for Robotics interoperability graph]]

Papyrus for Robotics is likely interoperable with S3D, as both are based on UML and MARTE (and are
customizations of the Papyrus UML editor). Papyrus for Robotics can generate ROS2 code which in
turn can run in a Gazebo simulation. The generated ROS2 has a proven interoperability (first tests run
successfully) with PX4 via a bridge between ROS2 and PX4 ́s uORB. This enables the use in the context
of the SHERPA precision landing simulator. There is also a likely interoperability with Matlab Simulink,
which has been integrated in Papyrus in previous projects.

==Current Status==

==Contribution and Improvements==

==Design and Implementation==

File:P4r-interoperability.png

2022-03-23T13:18:08Z

Cea:

File:P4r-vshape.png

2022-03-23T13:17:52Z

Cea:

WP6-P4R

2022-03-23T13:17:41Z

Cea: /* Model driven engineering: Papyrus For Robotics */

=Model driven engineering: Papyrus For Robotics=
{|class="wikitable"
| ID|| WP6-CEA
|-
| Contributor || CEA
|-
| Levels || Tool, Platform
|-
| Require || n.a.
|-
| Provide || n.a.
|-
| Input || RobMoSys compliant models (component definition, system architecture, high-level behavior)
|-
| Output || ROS2 code generation, BT XML format
|-
| C4D tooling || n.a.
|-
| TRL || 5
|}

== Detailed Description ==

Papyrus for Robotics is an open-source, Eclipse-based modelling tool for robotic system. It is a
customization of the Papyrus UML modelling tool. Papyrus for Robotics conforms to the RobMoSys
modelling approach. This implies that the tool supports different views for different roles/stakeholders,
for instance a service designer, a component developer and a safety as well as system architect. The
different roles are grouped in different tiers as shown in the Figure below.

[[File:p4r-robmosys-composition.png|center|RobMoSys composition structures [RobMoSys wiki]]

Tier 1 defines the composition structures, tier 2 domain models and tier 3 content produced by eco-
system users. Translated to Papyrus for Robotics, the composition structures are the UML meta-model
in combination with a Robotics UML profile, the domain models include model libraries that have been
defined by domain experts and come in form of pre-packaged model libraries. Tier 3 are concrete
component definition, system assembly and high-level behaviour models. The difference stakeholders
are shown in the following image.

[[File:p4r-tiers+roles.png|600px|center|Roles in Papyrus for Robotics]]

The pyramid is broken down to different views of the model and the stakeholders, as shown in Figure
44. The tool does not require a process in which the different steps are executed, but there are implicit
dependencies. For instance, a component definition requires the existence of service definitions in order
to specify the ports, and a system can only be built once the contained components are defined.

== Role in V-Cycle ==

[[File:p4r-vshape.png|center|Scope of Papyrus for Robotics in the V-cycle]]

Within the V-Shape picture, Papyrus4Robotics covers the software related aspects of system, sub-
system, and component-level aspects: notably, System requirements (with a focus on IT requirements),
the analysis and design with mapping information related to requirements, followed then by a detailed
design (assembly of components). The generation of a software system facilitates the system integration
by enabling a specification of an assembly of component instances along with their configuration. The
system verification and acceptation can be done via simulation. It is planned to add existing Papyrus
mechanisms related to compositional performance analysis in a future release.

== Interoperability with other C4D tools ==

[[File:p4r-interoperability.png|center|Papyrus for Robotics interoperability graph]]

Papyrus for Robotics is likely interoperable with S3D, as both are based on UML and MARTE (and are
customizations of the Papyrus UML editor). Papyrus for Robotics can generate ROS2 code which in
turn can run in a Gazebo simulation. The generated ROS2 has a proven interoperability (first tests run
successfully) with PX4 via a bridge between ROS2 and PX4 ́s uORB. This enables the use in the context
of the SHERPA precision landing simulator. There is also a likely interoperability with Matlab Simulink,
which has been integrated in Papyrus in previous projects.

==Current Status==

==Contribution and Improvements==

==Design and Implementation==

File:P4r-tiers+roles.png

2022-03-23T13:14:17Z

Cea:

File:P4r-robmosys-composition.png

2022-03-23T13:13:56Z

Cea:

WP6-P4R

2022-03-23T13:13:22Z

Cea: /* Detailed Description */

=Model driven engineering: Papyrus For Robotics=
{|class="wikitable"
| ID|| WP6-CEA
|-
| Contributor || CEA
|-
| Levels || Tool, Platform
|-
| Require || n.a.
|-
| Provide || n.a.
|-
| Input || RobMoSys compliant models (component definition, system architecture, high-level behavior)
|-
| Output || ROS2 code generation, BT XML format
|-
| C4D tooling || n.a.
|-
| TRL || 5
|}

== Detailed Description ==

Papyrus for Robotics is an open-source, Eclipse-based modelling tool for robotic system. It is a
customization of the Papyrus UML modelling tool. Papyrus for Robotics conforms to the RobMoSys
modelling approach. This implies that the tool supports different views for different roles/stakeholders,
for instance a service designer, a component developer and a safety as well as system architect. The
different roles are grouped in different tiers as shown in the Figure below.

[[File:p4r-robmosys-composition.png|frame|center|RobMoSys composition structures [RobMoSys wiki]]

Tier 1 defines the composition structures, tier 2 domain models and tier 3 content produced by eco-
system users. Translated to Papyrus for Robotics, the composition structures are the UML meta-model
in combination with a Robotics UML profile, the domain models include model libraries that have been
defined by domain experts and come in form of pre-packaged model libraries. Tier 3 are concrete
component definition, system assembly and high-level behaviour models. The difference stakeholders
are shown in the following image.

[[File:p4r-tiers+roles.png|frame|center|Roles in Papyrus for Robotics]]

The pyramid is broken down to different views of the model and the stakeholders, as shown in Figure
44. The tool does not require a process in which the different steps are executed, but there are implicit
dependencies. For instance, a component definition requires the existence of service definitions in order
to specify the ports, and a system can only be built once the contained components are defined.

== Role in V-Cycle ==

Within the V-Shape picture, Papyrus4Robotics covers the software related aspects of system, sub-
system, and component-level aspects: notably, System requirements (with a focus on IT requirements),
the analysis and design with mapping information related to requirements, followed then by a detailed
design (assembly of components). The generation of a software system facilitates the system integration
by enabling a specification of an assembly of component instances along with their configuration. The
system verification and acceptation can be done via simulation. It is planned to add existing Papyrus
mechanisms related to compositional performance analysis in a future release.

== Interoperability with other C4D tools ==

Papyrus for Robotics is likely interoperable with S3D, as both are based on UML and MARTE (and are
customizations of the Papyrus UML editor). Papyrus for Robotics can generate ROS2 code which in
turn can run in a Gazebo simulation. The generated ROS2 has a proven interoperability (first tests run
successfully) with PX4 via a bridge between ROS2 and PX4 ́s uORB. This enables the use in the context
of the SHERPA precision landing simulator. There is also a likely interoperability with Matlab Simulink,
which has been integrated in Papyrus in previous projects.

==Current Status==

==Contribution and Improvements==

==Design and Implementation==

WP6-P4R

2022-03-18T13:55:17Z

Cea: /* Model driven engineering: Papyrus For Robotics */

=Model driven engineering: Papyrus For Robotics=
{|class="wikitable"
| ID|| WP6-CEA
|-
| Contributor || CEA
|-
| Levels || Tool, Platform
|-
| Require || n.a.
|-
| Provide || n.a.
|-
| Input || RobMoSys compliant models (component definition, system architecture, high-level behavior)
|-
| Output || ROS2 code generation, BT XML format
|-
| C4D tooling || n.a.
|-
| TRL || 5
|}

== Detailed Description ==

Papyrus for Robotics is an open-source, Eclipse-based modelling tool for robotic system. It is a
customization of the Papyrus UML modelling tool. Papyrus for Robotics conforms to the RobMoSys
modelling approach. This implies that the tool supports different views for different roles/stakeholders,
for instance a service designer, a component developer and a safety as well as system architect. The
different roles are grouped in different tiers as shown in Figure 43.

Tier 1 defines the composition structures, tier 2 domain models and tier 3 content produced by eco-
system users. Translated to Papyrus for Robotics, the composition structures are the UML meta-model
in combination with a Robotics UML profile, the domain models include model libraries that have been
defined by domain experts and come in form of pre-packaged model libraries. Tier 3 are concrete
component definition, system assembly and high-level behaviour models. The difference stakeholders
are shown in the following image.

The pyramid is broken down to different views of the model and the stakeholders, as shown in Figure
44. The tool does not require a process in which the different steps are executed, but there are implicit
dependencies. For instance, a component definition requires the existence of service definitions in order
to specify the ports, and a system can only be built once the contained components are defined.

== Role in V-Cycle ==

Within the V-Shape picture, Papyrus4Robotics covers the software related aspects of system, sub-
system, and component-level aspects: notably, System requirements (with a focus on IT requirements),
the analysis and design with mapping information related to requirements, followed then by a detailed
design (assembly of components). The generation of a software system facilitates the system integration
by enabling a specification of an assembly of component instances along with their configuration. The
system verification and acceptation can be done via simulation. It is planned to add existing Papyrus
mechanisms related to compositional performance analysis in a future release.

== Interoperability with other C4D tools ==

Papyrus for Robotics is likely interoperable with S3D, as both are based on UML and MARTE (and are
customizations of the Papyrus UML editor). Papyrus for Robotics can generate ROS2 code which in
turn can run in a Gazebo simulation. The generated ROS2 has a proven interoperability (first tests run
successfully) with PX4 via a bridge between ROS2 and PX4 ́s uORB. This enables the use in the context
of the SHERPA precision landing simulator. There is also a likely interoperability with Matlab Simulink,
which has been integrated in Papyrus in previous projects.

==Current Status==

==Contribution and Improvements==

==Design and Implementation==

WP6-P4R

2022-03-16T12:44:19Z

Cea: Created page with "=Model driven engineering: Papyrus For Robotics= {|class="wikitable" | ID|| WP6-CEA |- | Contributor || CEA |- | Levels || Tool, Platform |- | Require || n.a. |- | Provide || n.a. |- | Input || RobMoSys compliant models (component definition, system architecture, high-level behavior) |- | Output || ROS2 code generation, BT XML format |- | C4D tooling || n.a. |- | TRL || 5 |} ==Detailed Description== ==Current Status== ==Contribution and Improveme..."

Main Page

2022-03-16T12:39:07Z

Cea: /* Components list */

==Welcome to the COMP4DRONES component repository. ==

See [[About]] for a quick description, and to know more about COMP4DRONES please visit [https://www.comp4drones.eu/ comp4drones.eu].

This repository aims at providing common components usable in different application domains, in particular those covered by project use-cases.

The requirements for using a components will be listed, as well as a documentation on how to use it. The component itself will be hosted by the partner who provides it.

==Components list==

{| class="wikitable"
|ID
|Contributor
|Title
|-
|[[WP3-01]]
|IKERLAN
|Safety function - Pre-Certified SOM
|-
|[[WP3-02]]
|EDI
|Modular SoC-based embedded reference architecture
|-
|[[WP3-03]]
|BUT
|Sensor information algorithms
|-
|[[WP3-04]]
|HIB
|Computer Vision Components for drones
|-
|[[WP3-10]]
|IFAT
|Component for trusted communication
|-
|[[WP3-13]]
|ENAC
|Paparazzi UAV
|-
|[[WP3-14_1]]
|ENSMA
|Control components that implement potential barriers
|-
|[[WP3-14_2]]
|ENSMA
|Multi-agent swarm control
|-
|[[WP3-15_1]]
|ACORDE
|UWB based indoor positioning
|-
|[[WP3-15_2]]
|ACORDE
|Multi-antenna GNSS/INS based navigation
|-
|[[WP3-16]]
|SCALIAN
|EZ_Chains Fleet Architecture
|-
|[[WP3-19_1]]
|IMEC
|Hyperspectral payload
|-
|[[WP3-19_2]]
|IMEC
|Hyperspectral image processing
|-
|[[WP3-20]]
|MODIS
|Multi-sensor positioning
|-
|[[WP3-22]]
|UNIMORE
|Onboard Compute Platform Desing Methodology
|-
|[[WP3-24]]
|UNIVAQ
|Efficient digital implementation of controllers
|-
|[[WP3-26]]
|UWB
|Droneport: an autonomous drone battery management system
|-
|[[WP3-28]]
|UNISS
|Accelerator Design Methodology for OOCP
|-
|[[WP3-36_1]]
|UDANET
|Smart and predictive energy management system
|-
|[[WP3-36_2]]
|UDANET
|AI drone system modules
|-
|[[WP3-37]]
|Aitek
|Video and data analytics
|-
|[[WP4-2]]
|SCALIAN
|EZ_Land Precision landing
|-
|[[WP4-5]]
|SCALIAN
|AI detection for clearance
|-
|[[WP4-18_A]]
|TEKNE
|Drone-Rover Transponder
|-
|[[WP4-42]]
|SCALIAN
|AI Stabilization
|-
|[[WP5-03]]
|SCALIAN
|EZ_Com Safe fleet communication
|-
|[[WP5-05_A]]
|TEKNE
|LP-WAN for UAV identification and monitoring
|-
|[[WP4-33]]
|UNIVAQ
|Autonomy, cooperation, and awareness
|-
|[[WP6-P4R]]
|CEA
|Model driven engineering
|}

Consult the [https://www.mediawiki.org/wiki/Special:MyLanguage/Help:Contents User's Guide] for information on using the wiki software.

== Getting started ==
* [https://www.mediawiki.org/wiki/Special:MyLanguage/Manual:Configuration_settings Configuration settings list]
* [https://www.mediawiki.org/wiki/Special:MyLanguage/Manual:FAQ MediaWiki FAQ]
* [https://lists.wikimedia.org/postorius/lists/mediawiki-announce.lists.wikimedia.org/ MediaWiki release mailing list]
* [https://www.mediawiki.org/wiki/Special:MyLanguage/Localisation#Translation_resources Localise MediaWiki for your language]
* [https://www.mediawiki.org/wiki/Special:MyLanguage/Manual:Combating_spam Learn how to combat spam on your wiki]