Difference between revisions of "ROSRV"

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ROSRV is a runtime verification framework for the Robot Operating System (ROS) [1]. ROS is an open-source framework for robot software development, providing operating system-like functionality on heterogeneous
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computer clusters. With the wide adoption of ROS, its safety and security are becoming an important problem. ROSRV integrates seamlessly with ROS and works as a transparent monitoring infrastructure that intercepts the commands and messages passing through the system and performs monitoring actions upon events of interest. Safety and security properties can be defined in a formal specification language, and are ensured by monitors generated automatically from specifications.
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{{shortcut|[[ROSMOP|ROSMOP]] }}
  
== Getting Started ==
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ROSRV is a runtime verification framework for the [http://www.ros.org/ Robot Operating System (ROS)]. ROS is an open-source framework for robot software development, providing operating system-like functionality on a heterogeneous computer cluster. With the wide adoption of ROS, its safety and security are becoming an important problem.
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ROSRV integrates seamlessly with ROS. Its two purposes are (1) monitoring safety properties and (2) enforcing security policies. Its core is a runtime monitoring infrastructure that intercepts, observes and optionally modifies messages passing through the system, to check system's runtime behavior against user-defined safety properties and perform desired actions. For automatic monitor generation out of formal specifications, ROSRV depends on [[ROSMOP|ROSMOP]]. ROSRV regulates system state and execution of commands by enforcing a user-defined access control policy to address security concerns.
  
 
=== Download ===
 
=== Download ===
[http://fsl.cs.illinois.edu/images/6/6c/Rvmaster.tar.gz rvmaster]
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<preserve>
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<table width=720 border=0 cellpadding=0 cellspacing=0>
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<tr>
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<td width=170 align=left valign=top>
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<b>Download the source code</b><br>
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<a href="https://github.com/Formal-Systems-Laboratory/ROSRV.git">ROSRV on GitHub</a><br>
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</td>
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<td width=20>
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</td>
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<td width=270 align=left valign=top>
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<b>Prerequisites</b><br>
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<a href=http://git-scm.com/book/en/Getting-Started-Installing-Git target=_blank>Git</a> (1.8 or later)<br>
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<a href=http://wiki.ros.org/groovy target=_blank>ROS Groovy Galapagos</a><br>
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<a href=http://fsl.cs.illinois.edu/index.php/ROSMOP target=_blank>ROSMOP</a> (Please check the ROSMOP Installation guide)<br>
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</td>
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</tr>
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</table>
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</preserve>
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(Our framework currently works on Ubuntu 12.04 with ROS Groovy distribution release)
  
=== Compile ===
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=====How to Install=====
  
To generate monitors out of event specifications, first you have to compile the RosMOP tool.
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* Run <font face=Courier>git clone --recursive https://github.com/Formal-Systems-Laboratory/ROSRV.git</font> to check out the source code from the Github repository, including ROSMOP.
  
Go to <font face=Courier>rosmop</font> directory and call
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* Add <font face=Courier><ROSRV_HOME>/bin</font> to your PATH.
 
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: <font face=Courier>ant</font>
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For the monitor generation and the compilation of RVMaster with the generated code, call the script <font face=Courier>rosmop</font> with event specification(s) as input
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: <font face=Courier>rosmop monitors/landshark_monitors/</font>
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=== Run ===
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<font face=Courier>rvcore</font>: runs rosmaster and rvmaster
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-<font face=Courier>roscore -p 12345</font>
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-<font face=Courier>./rvmaster.sh</font>
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<font face=Courier>rvsim</font>: runs the LandShark simulator (requires Webots)
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<font face=Courier>rvjoystick</font>: runs the joystick controller
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=== Monitoring options ===
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<font face=Courier>rosrv</font>
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: <font face=Courier>-enable</font>: enables given monitor(s)
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: <font face=Courier>-disable</font>: disables given monitor(s)
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: <font face=Courier>-list</font>: lists active monitors
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: <font face=Courier>-rvstate</font>: lists the status of RVMaster regarding monitors
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== Event Specification ==
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All the specifications are provided by users. ROSRV generates C++ code automatically based on those specifications. Each event generates one call back method and all the call back methods are registered by RVMaster. Parameters of events are treated as references to fields in monitored messages, so users can modify messages in event handler code. Event handlers (i.e. actions) are inserted in call back methods and called by RVMaster at runtime.
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Basic form of a user-defined event specification is the following:
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* Run
 
<code>
 
<code>
#include <library>
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cd <ROSRV_HOME>
spec(){
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catkin_make
int i;
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bool b;
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event event1(parameters) topic messageType '{pattern}'
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<<
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//action code
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>>
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}
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</code>
 
</code>
  
Event specification names are used to identify the monitors. By using those names, one can enable or disable desired monitors, and hence control which events take place.
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* Make sure the target package builds successfully.
 
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The following event specification defines the monitor which makes sure the robot doesn't shoot itself. For clarity, please check out our [[#Demo|demo]].
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<code>
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#include <stdint.h>
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safeTrigger() {
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      bool isSafeTrigger = false;
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      event checkPoint(std::string monitored_name, double monitored_position) /landshark/joint_states sensor_msgs/JointState '{name[1]:monitored_name, position[1]:monitored_position}'
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      <<
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if(monitored_name=="turret_tilt")
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{
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if(monitored_position > -0.45){
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isSafeTrigger = true;
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ROS_INFO("Safe to trigger");
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}else{
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isSafeTrigger = false;
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ROS_INFO("Not safe to trigger");
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}
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}
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      >>
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      event safeTrigger() /landshark_control/trigger landshark_msgs/PaintballTrigger '{}'
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      <<
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if(!isSafeTrigger)
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{
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ROS_WARN("Monitor: Not allowed to trigger in this pose!");
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return;
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}
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      >>
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}
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</code>
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== Demo ==
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Watch our demo to see how the monitors interact with the robot LandShark [2]:
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You can read more about how to use ROSRV [https://github.com/Formal-Systems-Laboratory/ROSRV/blob/master/docs/Usage.md here].
  
<iframe src="https://docs.google.com/file/d/0Bx8YGe2pU821aVlwSUUxTEdab1k/preview" width="854" height="514"></iframe>
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=== Publications ===
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:<pubbib id="huang-erdogan-zhang-moore-luo-sundaresan-rosu-2014-rvtool"/>
  
== References ==
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=== Demo ===
  
[1] [http://www.ros.org/ ROS]
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Watch our demo to see how monitors interact with the robot [http://www.blackirobotics.com LandShark UGV]:
  
[2] The LandShark UGV is a product of [http://www.blackirobotics.com Black-i Robotics]
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<iframe width="854" height="514" src="//www.youtube.com/embed/8M6wikTwmjY?rel=0" frameborder="0" modestbranding="1" showinfo="0" allowfullscreen></iframe>

Latest revision as of 04:01, 5 March 2016

Links:
ROSMOP

ROSRV is a runtime verification framework for the Robot Operating System (ROS). ROS is an open-source framework for robot software development, providing operating system-like functionality on a heterogeneous computer cluster. With the wide adoption of ROS, its safety and security are becoming an important problem.

ROSRV integrates seamlessly with ROS. Its two purposes are (1) monitoring safety properties and (2) enforcing security policies. Its core is a runtime monitoring infrastructure that intercepts, observes and optionally modifies messages passing through the system, to check system's runtime behavior against user-defined safety properties and perform desired actions. For automatic monitor generation out of formal specifications, ROSRV depends on ROSMOP. ROSRV regulates system state and execution of commands by enforcing a user-defined access control policy to address security concerns.

Download

Download the source code
ROSRV on GitHub

Prerequisites
Git (1.8 or later)
ROS Groovy Galapagos
ROSMOP (Please check the ROSMOP Installation guide)

(Our framework currently works on Ubuntu 12.04 with ROS Groovy distribution release)

How to Install
  • Add <ROSRV_HOME>/bin to your PATH.
  • Run
cd <ROSRV_HOME>
catkin_make
  • Make sure the target package builds successfully.

You can read more about how to use ROSRV here.

Publications

ROSRV: Runtime Verification for Robots 
Jeff Huang and Cansu Erdogan and Yi Zhang and Brandon Moore and Qingzhou Luo and Aravind Sundaresan and Grigore Rosu
RV'14, LNCS 8734, pp 247-254. 2014
PDF, Slides(PPTX), Slides(PDF), ROSRV, DOI, RV'14, BIB


Demo

Watch our demo to see how monitors interact with the robot LandShark UGV:

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