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Towards Interactive, Incremental Programming of ROS Nodes

Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional component- and MDSD-based approaches can facilitate experimentation. We propose the use of an internal DSL providing both a tool to interactively create ROS nodes and a behaviour-replacement mechanism to interactively reshape existing ROS nodes by wrapping the external interfaces (the publish/subscribe topics), dynamically controlled using the Python command line interface.

preprint2014arXivOpen access
Sorin AdamUlrik Pagh Schultz
Software EngineeringRobotics
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Sorin AdamUlrik Pagh Schultz

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