As robotic systems such as autonomous cars and delivery drones assume greater roles and responsibilities within society, the likelihood and impact of catastrophic software failure within those systems is increased. To aid researchers in the development of new methods to measure and assure the safety and quality of robotics software, we systematically curated a dataset of 221 bugs across 7 popular and diverse software systems implemented via the Robot Operating System (ROS). We produce historically accurate recreations of each of the 221 defective software versions in the form of Docker images, and use a grounded theory approach to examine and categorize their corresponding faults, failures, and fixes. Finally, we reflect on the implications of our findings and outline future research directions for the community.

Self-adaptation can be used in robotics to increase system robust- ness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework implements and pack- ages Metacontrol, and it demonstrate how MROS can be applied in a navigation scenario where a mobile robot navigates in a factory floor. Video: https://www.youtube.com/watchvISe9aMskJuE

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). The implementation of adaptable architectures is very often ad hoc, quickly gets cumbersome and expensive. Reusable solutions that support complex, runtime reasoning for robot adaptation have been seen in the adoption of ontologies. While the usage of ontologies significantly increases system reuse and maintainability, it requires additional effort from the application developers to translate requirements into formal rules that can be used by an ontological reasoner. In this paper, we present a design tool that facilitates the specification of reconfigurable robot skills. Based on the specified skills, we generate corresponding runtime models for self-adaptation that can be directly deployed to a running robot that uses a reasoning approach based on ontologies. We demonstrate the applicability of the tool in a real robot performing a patrolling mission at a university campus.

Reactive programming is an alternative to callback-based programming. This tutorial chapter first discusses the problems of asynchronous programming with callbacks and locks—the standard ROS 2 API—and then presents a way to overcome them using the reactive programming paradigm. We introduce RxROS: a new API for implementing ROS nodes, based on the paradigm of reactive programming. We demonstrate advantages on small code examples in a tutorial style using simple nodes written in RxROS for ROS 2, and show the results of performance experiments indicating that RxROS does not introduce any significant performance overhead. RxROS is available under a BSD license, with bindings for both ROS 1 and ROS 2, in both Python and C + +. The implementation of RxROS for ROS 2 is available at https://github.com/rosin-project/rxros2.

Variant-rich software systems offer a large degree of customization, allowing users to configure the target system according to their preferences and needs. Facing high degrees of variability, these systems often employ variability models to explicitly capture user-configurable features (e.g., systems options) and the constraints they impose. The explicit representation of features allows them to be referenced in different variation points across different artifacts, enabling the latter to vary according to specific feature selections. In such settings, the evolution of variability models interplays with the evolution of related artifacts, requiring the two to evolve together, or coevolve. Interestingly, little is known about how such coevolution occurs in real-world systems, as existing research has focused mostly on variability evolution as it happens in variability models only. Furthermore, existing techniques supporting variability evolution are usually validated with randomly-generated variability models or evolution scenarios that do not stem from practice. As the community lacks a deep understanding of how variability evolution occurs in real-world systems and how it relates to the evolution of different kinds of software artifacts, it is not surprising that industry reports existing tools and solutions ineffective, as they do not handle the complexity found in practice. Attempting to mitigate this overall lack of knowledge and to support tool builders with insights on how variability models coevolve with other artifact types, we study a large and complex real-world variant-rich software system: the Linux kernel. Specifically, we extract variability-coevolution patterns capturing changes in the variability model of the Linux kernel with subsequent changes in Makefiles and C source code. From the analysis of the patterns, we report on findings concerning evolution principles found in the kernel, and we reveal deficiencies in existing tools and theory when handling changes captured by our patterns.