RSIA: Rate based Static Impact Analysis for robotic systems

Impact set generator for ROS based systems implemented in C++. Tool extracts and uses the message transfer rate information between two components to reduce the impact set size.

Free software: MIT License

Demonstration

Installation

Dependencies (Install Guide)
- ROS (Install instructions)
- LLVM (version 3.9.0, requires to be built from source code)(link)
- Clang (version 3.9.0, requires to be built from source code)(link)
- Pugi-XML (link)
- Yaml-CPP (link)
- graphviz (link)
To Install Dependency Analysis (DA) tool (First Pass) (Second Pass)
To Install Impact Analysis (IA) tool (click here)
To Install Helper Tools (HTs) (click here)

Examples

Instructions on how to use RSIA on a sample system can be found here.

Features

Dependency Analysis Tool

Generates system dependency graph from source code
Annotation of graph edges with rate-independent labels

Impact Analysis Tool

DFS based component reachability analysis starting at a changed node
Configurable stopping conditions for graph exploration
Simulation of traditional IA techniques

Helper Tools

Parsing of ROS based .launch files
Single command build and analysis of the whole system

Credits

NIMBUS Lab at the University of Nebraska, Lincoln.

This work was partially supported by NSF under awards #1526652 and #1638099 and USDA-NIAF #2013-67021-20947.

SharmaNishant/rsia