Improving Code Quality in ROS Packages Using a Temporal Extension of First-Order Logic

Robots are given more and more challenging tasks in domains such as transport and delivery, farming or health. Software is key components for robots, and ROS is a popular open-source middleware for writing robotics applications. Code quality matters a lot because a poorly written software is much mo...

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Published in:2018 Second IEEE International Conference on Robotic Computing (IRC) pp. 1 - 8
Main Authors: Come, David, Brunel, Julien, Doose, David
Format: Conference Proceeding
Language:English
Published: IEEE 01.01.2018
Subjects:
C++ languages
code quality
Engines
formal methods
logic
robotics
Robots
ROS
Safety
Semantics
Software
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Abstract Robots are given more and more challenging tasks in domains such as transport and delivery, farming or health. Software is key components for robots, and ROS is a popular open-source middleware for writing robotics applications. Code quality matters a lot because a poorly written software is much more likely to contain bugs and will be harder to maintain over time. Within a code base, finding faulty patterns takes a lot of time and money. We propose a framework to search automatically user-provided faulty code patterns. This framework is based on FO++, a temporal extension of first-order logic, and Pangolin, a verification engine for C++ programs. We formalized with FO++ five faulty patterns related to ROS and embedded systems. We analyzed with Pangolin 25 ROS packages looking for occurrences of these patterns and found a total of 218 defects. To prevent the faulty patterns from arising in new ROS packages, we propose a design pattern, and we show how Pangolin can be used to enforce it.
AbstractList Robots are given more and more challenging tasks in domains such as transport and delivery, farming or health. Software is key components for robots, and ROS is a popular open-source middleware for writing robotics applications. Code quality matters a lot because a poorly written software is much more likely to contain bugs and will be harder to maintain over time. Within a code base, finding faulty patterns takes a lot of time and money. We propose a framework to search automatically user-provided faulty code patterns. This framework is based on FO++, a temporal extension of first-order logic, and Pangolin, a verification engine for C++ programs. We formalized with FO++ five faulty patterns related to ROS and embedded systems. We analyzed with Pangolin 25 ROS packages looking for occurrences of these patterns and found a total of 218 defects. To prevent the faulty patterns from arising in new ROS packages, we propose a design pattern, and we show how Pangolin can be used to enforce it.
Author Brunel, Julien
Doose, David
Come, David
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SubjectTerms C++ languages
code quality
Engines
formal methods
logic
robotics
Robots
ROS
Safety
Semantics
Software
Title Improving Code Quality in ROS Packages Using a Temporal Extension of First-Order Logic
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