How do you architect your robots?: State of the practice and guidelines for ros-based systems

Ivano Malavolta; Grace Lewis; Bradley Schmerl; Patricia Lago; David Garlan

doi:10.1145/3377813.3381358

How do you architect your robots? State of the practice and guidelines for ros-based systems

Ivano Malavolta, Grace Lewis, Bradley Schmerl, Patricia Lago, David Garlan

Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

The Robot Operating System (ROS) is the de-facto standard for robotic software. If on one hand ROS is helping roboticists, e.g., by providing a standardized communication platform, on the other hand ROS-based systems are getting larger and more complex and could benefit from good software architecture practices. This paper presents an observational study aimed at (i) unveiling the state-ofthe- practice for architecting ROS-based systems and (ii) providing guidance to roboticists about how to properly architect ROS-based systems. To achieve these goals, we (i) build a dataset of 335 GitHub repositories containing real open-source ROS-based systems, (ii) mine the repositories for extracting the state of the practice about how roboticists are architecting them, and (iii) synthesize a catalog of 49 evidence-based guidelines for architecting ROS-based systems. The guidelines have been validated by 77 roboticists working on real-world open-source ROS-based systems.

Original language	English
Title of host publication	ICSE-SEIP 2020
Subtitle of host publication	Proceedings of the ACM/IEEE 42nd International Conference on Software Engineering
Publisher	IEEE Computer Society
Pages	31-40
Number of pages	10
ISBN (Electronic)	9781450371230
DOIs	https://doi.org/10.1145/3377813.3381358
Publication status	Published - Jun 2020
Event	42nd ACM/IEEE International Conference on Software Engineering: Software Engineering in Practice, ICSE-SEIP 2020 - Virtual, Online, Korea, Republic of Duration: 27 Jun 2020 → 19 Jul 2020

Publication series

Name	Proceedings - International Conference on Software Engineering
ISSN (Print)	0270-5257

Conference

Conference	42nd ACM/IEEE International Conference on Software Engineering: Software Engineering in Practice, ICSE-SEIP 2020
Country/Territory	Korea, Republic of
City	Virtual, Online
Period	27/06/20 → 19/07/20

Funding

This research is partially supported by the Dutch Research Council (NWO) through the OCENW.XS2.038 grant. This material is based upon work funded and supported by the Department of Defense under Contract No. FA8702-15-D-0002 with Carnegie Mellon University for the operation of the Software Engineering Institute, a federally funded research and development center (DM19-0986), and on research sponsored by AFRL and DARPA under agreement nr. FA8750-16-2-0042. The U.S. Government is authorized to reproduce and distribute reprints for Governmental purposes notwithstanding any copyright notation thereon. The views and conclusions contained herein are those of the authors and should not be interpreted as necessarily representing the official policies or endorsements, either expressed or implied, of the AFRL, DARPA or the U.S. Government. Thanks to Jarrett Holtz and Selva Samuel for their comments on parts of the paper.

Funders	Funder number
Dutch Research Council
U.S. Department of Defense	FA8702-15-D-0002
Defense Advanced Research Projects Agency	FA8750-16-2-0042
Air Force Research Laboratory
Carnegie Mellon University	DM19-0986
Nederlandse Organisatie voor Wetenschappelijk Onderzoek	OCENW.XS2.038

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1145/3377813.3381358

Malavolta2020_How do you architect your robotsFinal published version, 1.49 MBLicence: Article 25fa Dutch Copyright Act

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Malavolta, I., Lewis, G., Schmerl, B., Lago, P., & Garlan, D. (2020). How do you architect your robots? State of the practice and guidelines for ros-based systems. In ICSE-SEIP 2020: Proceedings of the ACM/IEEE 42nd International Conference on Software Engineering (pp. 31-40). Article 3381358 (Proceedings - International Conference on Software Engineering). IEEE Computer Society. https://doi.org/10.1145/3377813.3381358

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Malavolta, I, Lewis, G, Schmerl, B, Lago, P & Garlan, D 2020, How do you architect your robots? State of the practice and guidelines for ros-based systems. in ICSE-SEIP 2020: Proceedings of the ACM/IEEE 42nd International Conference on Software Engineering., 3381358, Proceedings - International Conference on Software Engineering, IEEE Computer Society, pp. 31-40, 42nd ACM/IEEE International Conference on Software Engineering: Software Engineering in Practice, ICSE-SEIP 2020, Virtual, Online, Korea, Republic of, 27/06/20. https://doi.org/10.1145/3377813.3381358

How do you architect your robots? State of the practice and guidelines for ros-based systems. / Malavolta, Ivano; Lewis, Grace; Schmerl, Bradley et al.
ICSE-SEIP 2020: Proceedings of the ACM/IEEE 42nd International Conference on Software Engineering. IEEE Computer Society, 2020. p. 31-40 3381358 (Proceedings - International Conference on Software Engineering).

Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review

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Malavolta I, Lewis G, Schmerl B, Lago P, Garlan D. How do you architect your robots? State of the practice and guidelines for ros-based systems. In ICSE-SEIP 2020: Proceedings of the ACM/IEEE 42nd International Conference on Software Engineering. IEEE Computer Society. 2020. p. 31-40. 3381358. (Proceedings - International Conference on Software Engineering). Epub 2020 Jun 27. doi: 10.1145/3377813.3381358