A Model-Based Methodology for Automated Verification of ROS 2 Systems

To simplify the formal verification of ROS 2-based applications, in this paper, we propose a novel approach to the automation of their model-based verification using model-driven engineering techniques. We propose a methodology starting with ROS 2 execution traces, generated by ROS2_tracing and using models and model transformations in Eclipse to automatically initialize pre-defined formal model templates in UPPAAL, with system parameters. While the methodology targets the simplification of formal verification for robotics developers as users, the implementation is at an early stage and the toolchain is not fully implemented and evaluated. Hence this paper targets tool developers and researchers to give a first overview of the underlying idea of automating ROS 2 verification.Hence, we propose a toolchain that supports verification of implemented and conceptual ROS 2 systems, as well as iterative verification of timing and scheduling parameters. We propose using four different model representations, based on the ROS2_tracing output and self-designed Eclipse Ecore metamodels to model the system from a structural and verification perspective. The different model representations allow traceability throughout the modeling and verification process. Last, an initial proof of concept is implemented containing the core elements of the proposed toolchain and validated given a small ROS 2 system.