论文标题
机器人操作系统的软件质量评估
Software Quality Assessment for Robot Operating System
论文作者
论文摘要
机器人操作系统（ROS）被广泛用于学术界和行业，重要的是在安全至关重要的机器人系统中杠杆作用。 ROS软件的质量会影响机器人系统的安全性和安全性。因此，必须保证可靠性和质量。源代码静态分析是正式执行软件验证的关键方法。我们在本文中解决了两个问题：（1）进行系统文献综述研究，以提供分析ROS软件各个方面的现有方法的完整图片，（2）执行经验研究以评估可能影响ROS功能的软件属性。我们利用PMD1（一种现成的静态分析工具）对使用Java实施的一组ROS存储库进行实证研究。调查分析表明，由于缺乏评估ROS2代码的量身定制的分析机制，在研究体系中存在重大缺点，并揭示了大多数研究工作集中于ROS1。我们的实证研究表明，ROS2的Java代码没有严重问题，大多数检测到的警报是代码样式问题。
Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore, reliability and quality are imperative to guarantee. Source code static analysis is a key approach to formally perform software verification. We address two concerns in this paper: (1) conducting a systematic literature review study to provide a complete picture of the existing methods that analyze different aspects of ROS software, (2) performing empirical study to evaluate software properties that can influence the functionality of ROS. We leverage PMD1, an off-the-shelf static analysis tool, to conduct our empirical study over a set of ROS repositories implemented using Java. The survey analysis shows a significant shortcoming in the body of research by the lack of tailored analysis mechanisms for assessing ROS2 code and reveals that the majority of research efforts are centered around ROS1. Our empirical study shows that the Java code of ROS2 does not suffer from serious issues and the majority of the detected alerts are code style issues.
