WP6-P4R - Revision history

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

2023-03-10T08:48:31Z

Model driven engineering: Papyrus For Robotics

← Older revision		Revision as of 08:48, 10 March 2023
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	\|-		\|-
	\| TRL \|\| 5		\| TRL \|\| 5
			\|-
			\| Contact \|\| reda.nouacer at cea.fr
	\|}		\|}

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

2022-03-23T13:20:50Z

Model driven engineering: Papyrus For Robotics

← Older revision		Revision as of 13:20, 23 March 2022
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	are shown in the following image.		are shown in the following image.

	[[File:p4r-tiers+roles.png\|~~600px~~\|center\|Roles in Papyrus for Robotics]]		[[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		The pyramid is broken down to different views of the model and the stakeholders, as shown in Figure
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	== Role in V-Cycle ==		== Role in V-Cycle ==

	[[File:p4r-vshape.png\|center\|Scope of Papyrus for Robotics in the 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-		Within the V-Shape picture, Papyrus4Robotics covers the software related aspects of system, sub-
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	== Interoperability with other C4D tools ==		== Interoperability with other C4D tools ==

	[[File:p4r-interoperability.png\|center\|Papyrus for Robotics interoperability graph]]		[[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		Papyrus for Robotics is likely interoperable with S3D, as both are based on UML and MARTE (and are

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

2022-03-23T13:17:41Z

Model driven engineering: Papyrus For Robotics

← Older revision		Revision as of 13:17, 23 March 2022
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	different roles are grouped in different tiers as shown in the Figure below.		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]]		[[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-		Tier 1 defines the composition structures, tier 2 domain models and tier 3 content produced by eco-
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	are shown in the following image.		are shown in the following image.

	[[File:p4r-tiers+roles.png\|~~frame~~\|center\|Roles in Papyrus for Robotics]]		[[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		The pyramid is broken down to different views of the model and the stakeholders, as shown in Figure
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	== Role in V-Cycle ==		== 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-		Within the V-Shape picture, Papyrus4Robotics covers the software related aspects of system, sub-
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	== Interoperability with other C4D tools ==		== 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		Papyrus for Robotics is likely interoperable with S3D, as both are based on UML and MARTE (and are

Cea: /* Detailed Description */

2022-03-23T13:13:22Z

Detailed Description

← Older revision		Revision as of 13:13, 23 March 2022
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	modelling approach. This implies that the tool supports different views for different roles/stakeholders,		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		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.		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-		Tier 1 defines the composition structures, tier 2 domain models and tier 3 content produced by eco-
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	component definition, system assembly and high-level behaviour models. The difference stakeholders		component definition, system assembly and high-level behaviour models. The difference stakeholders
	are shown in the following image.		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		The pyramid is broken down to different views of the model and the stakeholders, as shown in Figure

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

2022-03-18T13:55:17Z

Model driven engineering: Papyrus For Robotics

← Older revision		Revision as of 13:55, 18 March 2022
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	\|}		\|}

	==Detailed Description==		== 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.

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..."

2022-03-16T12:44:19Z

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..."

New page

=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 Improvements==

==Design and Implementation==