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Applying Software Static Analysis to ROS: The Case Study of the FASTEN European Project

  • Tiago Neto
  • Rafael ArraisEmail author
  • Armando Sousa
  • André Santos
  • Germano Veiga
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1092)

Abstract

Modern industry is shifting towards flexible, advanced robotic systems to meet the increasing demand for custom-made products with low manufacturing costs and to promote a collaborative environment for humans and robots. As a consequence of this industrial revolution, some traditional, mechanical- and hardware-based safety mechanisms are discarded in favour of a safer, more dependable robot software. This work presents a case study of assessing and improving the internal quality of a European research mobile manipulator, operating in a real industrial environment, using modern static analysis tools geared for robotic software. Following an iterative approach, we managed to fix about 90% of the reported issues, resulting in code that is easier to use and maintain.

Keywords

Software static analysis Safety Mobile manipulator ROS 

Notes

Acknowledgments

This work is financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme and by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia within project POCI-01-0145-FEDER-029583. The research leading to these results has also received funding from the European Union’s Horizon 2020 - The EU Framework Programme for Research and Innovation 2014–2020, under grant agreement No. 777096.

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Tiago Neto
    • 1
    • 2
  • Rafael Arrais
    • 1
    • 2
    Email author
  • Armando Sousa
    • 1
    • 2
  • André Santos
    • 2
    • 3
  • Germano Veiga
    • 1
    • 2
  1. 1.Faculty of EngineeringUniversity of PortoPortoPortugal
  2. 2.INESC TEC - INESC Technology and SciencePortoPortugal
  3. 3.Universidade do MinhoBragaPortugal

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