From High-Level Task Specification to Robot Operating System (ROS) Implementation

In this paper we describe a streamlined process for transforming high-level tasks into executable implementations created with the Robot Operating System (ROS). We leverage both the vast availability and functionalities of ROS packages and recent advances in automatically synthesizing provably-correct controllers from high-level specifications. Specifically, we propose a framework for seamless integration of provably-correct controllers with ROS: we automatically detect possible failures related to the mapping between the controller and the ROS nodes connected to the controller, and we automatically provide feedback to the user in the form of suggested changes to the specification when possible faults are detected.