rospec 0.0.3

Specification and verification of ROS-based robot software

rospec

Description

rospec is a domain specification language to specify configurations of ROS components and their integration. Current approaches focus on runtime verification or require system execution to detect misconfigurations. rospec allows component writer developers to express specifications for their ROS components, while component integrators select their components and provide their configurations --- any mismatches are raised statically prior to execution. By providing a formal way to describe the expected configuration and integration of ROS components, rospec helps identify misconfigurations early in the development process, preventing costly errors during system execution.

The tool can be used to validate various aspects of ROS components configuration and integration, including but not only:

• Topic, service, and action connections between nodes;
• Parameter value constraints and dependencies;
• Component compatibility requirements.

Installation

rospec can be installed using either pip or by building from source. We recommend using a virtual environment to avoid conflicts with other Python packages.

Prerequisites

• Python 3.9+
• uv (>=0.7.6)

Setup

Option 1: Install from PyPI (when available)

# Create and activate a virtual environment
uv venv
source .venv/bin/activate  # On Windows: .venv\Scripts\activate

# Install rospec
uv add rospec

Option 2: Install from source

1. Clone the repository:

   git clone https://github.com/pcanelas/rospec.git
   cd rospec
   

2. Create a virtual environment and install dependencies:

   uv venv
   source .venv/bin/activate  # On Windows: .venv\Scripts\activate
   uv sync
   

3. Install in development mode (if you plan to contribute):

   uv sync --dev
   

Usage

rospec offers a command line interface (CLI) for parsing and verifying specifications. To run the CLI, you can use the following command:

rospec --specifications path/to/your/spec.rospec

Or if installed in development mode:

uv run rospec --specifications path/to/your/spec.rospec

Basic Example

Here's a simple example of a rospec specification containing the specification for one component and its integration:

node type move_group_type {
   param elbow_joint/max_acceleration: double where {_ >= 0};
   optional param elbow_joint/max_velocity: double = 2.0;
   optional param elbow_joint/has_velocity_limits: bool = false;
   optional param elbow_joint/has_acceleration_limits: bool = false;
} where {
    exists(elbow_joint/max_acceleration) -> elbow_joint/has_acceleration_limits;
}

system {
   node instance move_group: move_group_type {
       param elbow_joint/max_acceleration = 0;
       param elbow_joint/max_velocity = 3.14;
       param elbow_joint/has_acceleration_limits = false;
       param elbow_joint/has_velocity_limits = false;
   }
}

To verify this specification:

rospec --specifications examples/evaluation/detectable-364801.rospec

Development

For development setup and contribution guidelines, see CONTRIBUTING.md.

Quick Development Setup

git clone https://github.com/pcanelas/rospec.git
cd rospec
uv venv
source .venv/bin/activate  # On Windows: .venv\Scripts\activate
uv sync --dev
uv run pre-commit install

Running Tests

uv run pytest

Code Formatting

uv run ruff format
uv run ruff check --fix

Authors

This project is a research project within the Software and Societal Systems Department (S3D) and the Robotics Institute at Carnegie Mellon University, and LASIGE at University of Lisbon, by:

• Paulo Canelas
• Bradley Schmerl
• Alcides Fonseca
• Christopher S. Timperley

Acknowledgements

This work was supported by Fundação para a Ciência e Tecnologia (FCT) in the LASIGE Research Unit under the ref. (UID/00408/2025 and EXPL/CCI-COM/1306/2021), and the CMU Portugal Dual PhD program (SFRH/BD/151469/2021).

Publications

The Usability Argument for ROS-based Robot Architectural Description Languages, at PLATEAU 2025.

Understanding Misconfigurations in ROS: An Empirical Study and Current Approaches, at ISSTA 2024.