Modeling Components and Connections in Cyber-Physical Systems

2026-06-08

AI Summary

This work addresses the limitations of ROS launch files, which, being text-based, struggle to clearly represent inter-module connections and interfaces, often leading to configuration errors and poor readability. To overcome these challenges, the authors propose a model-driven, visual modeling approach based on WebGME, implementing a dedicated environment called ROSLaunchVisual. This framework enables graphical design of nodes, topic-based communication, and parameter configurations, while supporting semantic validation, automated import/export of launch files, and accurate communication mapping. The proposed method significantly enhances the intuitiveness of launch file development, improves system comprehensibility, and facilitates collaborative efficiency, thereby reducing misconfiguration rates. It is particularly well-suited for the efficient development and maintenance of large-scale or collaboratively engineered robotic systems.

Abstract

Text based configuration files for cyber-physical systems show the hierarchy of component modules well but often hide the details of connections and interfaces between modules. A model-based visual approach to these configuration files can better capture this information. The XML structure of Robot Operating System (ROS) launch files can be improved using a modeling approach. This paper presents ROSLaunchVisual, a model-integrated environment built on WebGME for designing, visualizing, and managing ROS launch files. The tool raises the level of abstraction by allowing developers to create and modify launch files using a graphical interface that represents nodes, publishers, subscribers, and arguments as interconnected components. The tool provides a dynamic system analysis that can then be used in the static development and analysis of new and existing launch files. ROSLaunchVisual incorporates features such as metamodel-driven validation, automatic import/export of launch files, and visual communication mapping. Plugins further enhance functionality by updating libraries, checking for semantic errors, and managing remaps. By making launch file creation more intuitive and less error-prone, ROSLaunchVisual improves development efficiency and system understanding, especially in collaborative or large-scale robotics projects.

Problem

• Cyber-Physical Systems
• ROS launch files
• component connections
• configuration files
• system modeling

Innovation

• model-based visualization
• ROS launch files
• WebGME
• metamodel-driven validation
• cyber-physical systems