ROSpec: A Domain-Specific Language for ROS-Based Robot Software

Component-based robot software frameworks, such as the Robot Operating System (ROS), allow developers to quickly compose and execute systems by focusing on configuring and integrating reusable, off-the-shelf components. However, these components often lack documentation on how to configure and integrate them correctly. Even when documentation exists, its natural language specifications are not enforced, resulting in misconfigurations that lead to unpredictable and potentially dangerous robot behaviors. In this work, we introduce ROSpec, a ROS-tailored domain-specific language designed to specify and verify component configurations and their integration. ROSpec's design is grounded in ROS domain concepts and informed by a prior empirical study on misconfigurations, allowing the language to provide a usable and expressive way of specifying and detecting misconfigurations. At a high level, ROSpec verifies the correctness of argument and component configurations, ensures the correct integration of components by checking their communication properties, and checks if configurations respect the assumptions and constraints of their deployment context. We demonstrate ROSpec's ability to specify and verify components by modeling a medium-sized warehouse robot with 19 components, and by manually analyzing, categorizing, and implementing partial specifications for components from a dataset of 182 misconfiguration questions extracted from a robotics Q&A platform.