Modeling Components and Connections in Cyber-Physical Systems
2026-06-08 • Robotics
RoboticsProgramming LanguagesSoftware Engineering
AI summaryⓘ
The authors created ROSLaunchVisual, a tool that helps people design and understand ROS launch files using pictures instead of just text. This tool shows how different parts like nodes and connections relate to each other in an easy visual way. It also checks for mistakes and helps manage these files more efficiently, making it simpler to build and work on robotic systems, especially when many people are involved. Their approach aims to reduce errors and improve teamwork by providing a clear visual map of the system.
Robot Operating System (ROS)launch filescyber-physical systemsmodel-based designvisualizationWebGMEnodespublisherssubscribersmetamodel
Authors
Kate Sanborn, Tanuj Kenchannavar, Vakul Nath, Jonathan Sprinkle
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.