FaMe

User Guide

Requirements

• Ubuntu 20.04 or later
• ROS2 Foxy Fitzroy
• Gazebo simulator (not required in real robot execution)
• Camunda Modeler

ROS Package installation

Video Guide

Reproducing the simulation

In order to reproduce a simulated experiment, it is necessary to follow these steps:

• Download a simulation package (s.a. ground vehicle cooperation or agriculture scenario) and the engine package
• Build each ROS package:
  • cd <package_name>
  • colcon build
  • source install/setup.bash
• Run the simulation launch file: ros2 launch <simulation_package_name> <launch_file_name>.py
• Run the engine launch file: ros2 launch fame_engine <launch_file_name>.py
• Run the splitter node: ros2 launch fame_engine splitter.launch.py

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Framework Description

FaMe is a BPMN-driven framework for Multi-Robot System (MRS) development. It allows the definition of a MRS mission using BPMN Collaborations and the execution of the system exploiting the ROS2 framework. Specifically, the development phases are the modeling, the configuration, and the enactment.

• The modeling phase consists of a disciplined use of the BPMN notation permitting to define a collaboration diagram able to represent at a high level of abstraction the MRS for what concerns the involved devices and their behaviors.
• The configuration phase enriches the modeled collaboration with all the information needed for its execution, producing as output an executable collaboration diagram.
• The enactment phase executes the BPMN collaboration directly on each involved robot.

FaMe Phases

MODELING

G1			Robots as pools
	G1.1		Heterogeneous robots as single-instance pools
	G1.2		Homogeneous robots as multi-instance pools
G2			Mission as a process
	G2.1		Actions as activities
		G2.1.1	Complex actions as call activities
		G2.1.2	Simple actions as script tasks
	G2.2		Event handlers as event sub-processes
	G2.3		Concurrent behaviors by means of AND gateways
	G2.4		Internal choices as XOR gateways
	G2.5		External choices as event-based gateways
	G2.6		Missions activation as start events
	G2.7		Missions shutdown as end events
G3			Communication via signal events
G4			Data as data objects

CONFIGURATION

• Data Objects
  1. Select a data object
  2. Select in the Properties Panel the Extensions one
  3. Add new property and assign a name and a value
     • If the value depends on the system execution ${variable_name}
  4. Add as many properties as many variables you want to contain in the data object
• Signal Events
  1. Select a signal event
  2. Select in the Properties Panel the Extensions one
  3. Add a proprerty named type, with a value equal to the ROS message type, s.a., std_msgs/msg/Bool, ‎geometry_msgs/msg/Vector3, …
  4. If it is a throwing signal: add a property named payload, with a value equal to the data it shares, s.a., true, {x: ${x_target}, y: ${y_target}, z: ${z_target}}, …
• Script Tasks
  1. Select a script task
  2. Select in the Properties Panel the General one
  3. Add the desired programming language type in the Script Format field, s.a. JavaScript
  4. Write the script inside the Script box
  5. It is possible to access a global variable or to create a new one following the syntax: this.environment.variables.variable_name
  6. A script task should end with the next() function, to ensure its ending

ENACTMENT

Some results of the real-life experiment:

References