Towards An Efficient Searching Approach of ROS Message by Knowledge Graph

Sun, Bo; Mao, Xinjun; Yang, Shuo; Chen, Long

doi:10.1109/compsac54236.2022.00145

Cited by 3 publications

(3 citation statements)

References 23 publications

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“…They can be reused in different robotics software to achieve similar functions, promoting code reusability and modularity. By utilizing ROS community-contributed messages [12], developers gain access to a wide range of functionalities and data formats. This fosters collaboration and knowledge sharing within the ROS community, allowing developers to leverage existing solutions and easily exchange data between different systems.…”

Section: Ros Component Reusementioning

confidence: 99%

“…Moreover, knowledge graphs play a crucial role in driving robot software development through their recommendation power. Specifically, in the context of an ROS (robot operating system), the ROS-related knowledge graph can facilitate tasks such as searching for ROS packages [8] and ROS messages [12], simplifying the software development process for robotics.…”

Section: Robotics Domain Knowledge Graph Applicationmentioning

confidence: 99%

See 1 more Smart Citation

An Effective Method for Constructing a Robot Operating System Node Knowledge Graph Based on Open-Source Robotics Repositories

Zhao,

Mao,

Yang

2023

Electronics

Self Cite

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Robot software development can be considered as a component-driven process, and existing ROS components, such as an ROS node, can be reused to construct robot applications. By reusing the ROS node, the development process of robot software can be significantly accelerated. However, the challenges in reusing ROS nodes primarily lie in the scattered organization of ROS node information. To address this challenge, this paper proposes a method to construct an ROS node knowledge graph (RNKG) based on high-quality open-source robot projects. In order to build a high-quality knowledge graph of ROS nodes, we first constructed a high-quality dataset of open-source robot projects. Since ROS node knowledge can exist in both text and code formats, we initially separated the data in the dataset into code data and text data, and then applied different knowledge extraction methods to extract corresponding entities. Finally, we integrated a series of ROS node knowledge and organized it into a knowledge graph. To validate the effectiveness of the constructed ROS node knowledge graph, we first verified the completeness of the entities and the accuracy of relationships in the knowledge graph. Next, we evaluated the performance of the ROS node knowledge graph in assisting developers with the downstream task of finding ROS nodes. These findings suggest that our proposed method for constructing an ROS node knowledge graph is feasible and demonstrate that the ROS node knowledge graph helps search ROS nodes.

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Section: Ros Component Reusementioning

confidence: 99%

Section: Robotics Domain Knowledge Graph Applicationmentioning

confidence: 99%

An Effective Method for Constructing a Robot Operating System Node Knowledge Graph Based on Open-Source Robotics Repositories

Zhao,

Mao,

Yang

2023

Electronics

Self Cite

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“…Besides, it plays an indispensable role in promoting the development of robot software based on the power of recommendation. The ROS-related knowledge graph can be used in searching ROS Package [4] and ROS message [2] to simplify the process of developing robotics software.…”

Section: Related Workmentioning

confidence: 99%

An Effective Method for Constructing Knowledge Graph to Search Reusable ROS Nodes (S)

Zhao,

Mao,

Sun

et al. 2023

International Conferences on Software Engineering and Knowledge Engineering

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Developing robot software is difficult for most software engineers as it requires multi-discipline knowledge such as robotics, AI, and software engineering. Robot Operating Systems (ROS) provides a software development framework and lots of reusable ROS Nodes that encapsulate various robotics functions, which can simplify robot software development in terms of software reuse. However, searching and reusing required ROS Nodes from thousands of ROS Nodes is still challenging due to the scattered distribution of ROS Node information and the need for adequate search methods. In this paper, we present an effective method to construct a ROS Node knowledge graph in support of searching and reusing ROS Nodes. Our method uses multiple data sources, including open-source ROS software in Github and ROS wiki community. We extract two-tuple functional information and task-related noun phrases from the ROS Node description and ROS communication interactions from the ROS Node source code. The constructed ROS Node knowledge graph (RNKG) contains 14,065 entities and 15,767 relations. It provides rich semantic information to comprehensively and precisely describe ROS Nodes, their services, and related interaction topics and messages.

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MUSE: A Multi-Feature Semantic Fusion Method for ROS Node Search Based on Knowledge Graph

Zhao,

Mao,

Zhang

et al. 2023

2023 30th Asia-Pacific Software Engineering Conference (APSEC)

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Towards An Efficient Searching Approach of ROS Message by Knowledge Graph

Cited by 3 publications

References 23 publications

An Effective Method for Constructing a Robot Operating System Node Knowledge Graph Based on Open-Source Robotics Repositories

An Effective Method for Constructing a Robot Operating System Node Knowledge Graph Based on Open-Source Robotics Repositories

An Effective Method for Constructing Knowledge Graph to Search Reusable ROS Nodes (S)

MUSE: A Multi-Feature Semantic Fusion Method for ROS Node Search Based on Knowledge Graph

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