HAROS is a set of tools for quality assurance of ROS systems. It reads your ROS source code and detects a number of issues. It is also capable of automatically extracting the Computation Graph from the source code (with some limitations), and verify properties (with some limitations) by generating runtime monitors or tests, for instance.
HAROS currently sits at version 3.10.3, which is likely one of the last versions supporting only ROS1. We are organizing a tutorial at IROS 2021, in late september, targeting this version.
Details on this tutorial can be found on this page.
On another note, I am starting the design and development of the next major version, v4, which, among other things, aims at:
- supporting ROS2, in addition to ROS;
- improving source code parsing capabilities;
- redesigning the visualizer, offering new ways of exploring reports and models;
- making the tool more user-friendly, overall.
Since this is a free and open source tool, I have no clue who its users are and how to reach them effectively. So, I take this opportunity to share a small survey on Google Forms, aiming to collect user feedback and help me decide on how to better invest my time, in ways that are actually useful for the ROS community.
I know people generally do not like surveys, but, in my defense, there’s only a handful of required questions, so it can be done in about two minutes of your time. It is also anonymous, I am not requiring emails or sign-ins of any kind.
Let me know if you are interested in any of these topics!