RoBMEX: ROS-based modeling framework for end-users and experts

Abstract Autonomous vehicles, such as drones, are gaining great popularity due to their usability and versatility. Nowadays, a significant number of them operate using open source software, such as Robot Operating System (ROS) and the de facto standard MAVLink communication protocol, as they are free and many of them are reusable enough that they can be deployed in various different vehicles. Although these technologies offer a wide variety of resources, using them requires a reasonable background of programming and system engineering. Often, this is not achievable by common drone end-users in the short-term, as they would need to acquire a considerably large amount of know-how before working on specific domains. However, a graphical Domain Specific Modelling Language (DSML) might provide a shortcut to design drone missions using already known concepts to the end-users (or, at least, ones easier to learn). Pursuing this shortcut, RoBMEX is presented as a top-down methodology based on a set of domain specific languages able to enhance the autonomy of ROS-based systems, by allowing the creation of missions graphically, and then generating automatically executable source codes conforming to the designed missions.