University of Twente Student Theses

Login

EPG : Automating Model-to-Code Translation for micro-ROS and ROS 2

Huiskes, D.V. (2025) EPG : Automating Model-to-Code Translation for micro-ROS and ROS 2.

[img] PDF
55MB
Abstract:Robotics, as a multidisciplinary field, requires expertise in control design, system modelling, software development, and mechatronics, and often lacks integrated tools that combine these domains efficiently. Existing tools address specific aspects, but no comprehensive solution exists. This thesis introduces the Embedded-Project Generator (EPG), a model-driven development (MDD) software tool designed to automate the creation of microcontroller-based projects. These EPG-generated projects are configured for real-time management of model-based mechatronic control software, and enable network connectivity between a robot, controlled by a microcontroller that uses micro-ROS to facilitate communication with ROS 2 on a coordinating single-board computer. This thesis aims to automate the translation from a robot-controller model to code that uses the ROS 2 ecosystem and supports real-time control, implement the automation method in a software tool, evaluate its performance with a robot, and test the performance and stability of a distributed network with multiple robots using code generated by the software tool. The EPG functions as intended and demonstrates the ability to generate projects with a 1 ms firm real-time control loop and 33 ms soft real-time communication. Networking tests demonstrate the effectiveness of a distributed system using EPG-generated projects, in achieving motion profile tracking, real-time synchronisation, and teleoperation.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Computer Science MSc (60300)
Link to this item:https://purl.utwente.nl/essays/106029
Export this item as:BibTeX
EndNote
HTML Citation
Reference Manager

 

Repository Staff Only: item control page