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We need to add the values according to this table: spreadsheet
and this suggestion
qa_energy = QA energy Max
qa_safety = QA Safety Min

@ipa-nhg could you kindly add some basic information in the README file on how to use this repo and its files?

I have opened metacontrol_models_experiment with the SeRoNet tooling, but I get some errors (image below)

I guess I need to update your plugin?
I was doing it from a local file. Could you send me the new release? Or can I try to update from some online server?

I lost track of things. For the moment I'm using the rossystem files to autogen the owl, great!!

But we also need some information from the system.rossystem file.

We discussed that the system.rossystem file would contain, in addition to the observers, global rosparams to define the QA levels (NFRs) required by the application. These are thresholds used by the metacontrol to determine whether an adaptation is needed.

I suggest these params be named nfr_..., for example:

/nfr_energy = 0.5
/nfr_safety = 0.5

We could do two things to pass them to the mros1_reasoner:

1. parse them in https://github.com/rosin-project/mros1_reasoner/blob/mvp/mros1_reasoner/scripts/rosmodel2owl.py so they are initialized the KB (then they are not read again if they change during application) This is acceptable for the MODELS paper.
2. Set them in the ROS param server and read them when initializing mros1_reasoner. This is a more future proof solution, for when they need to be dynamic.

from metacontrol_move_base_configurations#7

To consolidate the work done in preparation for the upcoming journal submission, I think there is a development in branch QaEnergySafetyValues pending to be merged into master @ipa-nhg
Is it possible to delete all other branches if they are no longer needed?

We should find a models structure to "split" the components that compose a system depending on the functionality. For example : 1) set of the low-level driver components, 2) set of components required to localize the robot and 3) set of components required to navigate.

This split is supported by the metacontrol, the idea is to be able to describe the same hierarchy using the ROS-models and use the rosmodel2owl script to auto-generate a owl file with the proper layers structure. For the experiment we planned to use the laser scanner as a component required to localize the robot. For this scanner we have also to add functional properties (ros global parameters for ROS model) to detect anomalies of its output data (values out of the range or low publisher frequency).

NOTE:
previous ROS model efforts made in this direction, lightly related:

• capabilities checker: https://github.com/ipa-nhg/ros-model-experiments/blob/cob4/cob4-25/cob4-25_monitoring/cob4-25_navigation.rossystem , with this file we evaluate if a system is suitable to run a standard navigation stack. Only check interfaces.
• desired components: https://github.com/ipa-nhg/ros-model-experiments/blob/cob4/cob4-25/cob4-25_monitoring/cob4-25_desired_components.rossystem , this file was created to diagnose a Care-O-bot. Given the file as input to the rosgraph_monitor we will get automatically a diagnosis error message if one of this nodes is down.

Original thread (from start) in meta-control/mc_mros_reasoner#34 (comment)

@ipa-nhg @ipa-hsd
I think we should try avoid copying files from one pkg to another (from rosin-experiments to metacontrol_move_base_experiments to mros1_reasoner) Automate this somehow? Maybe search for rospackage folders?

@chcorbato @ipa-hsd

what about move the rossystem files to the Ros packages that contains their deployed launch file?

This means move all the files to this repo https://github.com/rosin-project/metacontrol_move_base_configurations , where for example the f2_v3_r3.rossystem will be within the ROS package f2_v3_r3. Remember this repository has to be in your workspace to make the rosgraph_manipular working and I could automate the creation of the rossystem files within the ROS package with the bash script .

make this sense for you?

EDITED:

practically my idea are the following changes:

rosin-project/metacontrol_move_base_configurations@641d3c9 (associated PR: rosin-project/metacontrol_move_base_configurations#3 )

rosin-project/rosin-experiments@99d8261 (associated PR rosin-project/rosin-experiments#11 )

@chcorbato @ipa-hsd

what about move the rossystem files to the Ros packages that contains their deployed launch file?

This means move all the files to this repo https://github.com/rosin-project/metacontrol_move_base_configurations , where for example the f2_v3_r3.rossystem will be within the ROS package f2_v3_r3. Remember this repository has to be in your workspace to make the rosgraph_manipular working and I could automate the creation of the rossystem files within the ROS package with the bash script .

make this sense for you?

EDITED:

practically my idea are the following changes:

rosin-project/metacontrol_move_base_configurations@641d3c9 (associated PR: rosin-project/metacontrol_move_base_configurations#3 )

rosin-project/rosin-experiments@99d8261 (associated PR rosin-project/rosin-experiments#11 )

Maybe a lame suggestion, but since there are no executables in the folder and just .rossystem files, would it make sense to directly read from the URL? The path to the URL can be an arg to the rosmodel2owl.py

good idea, but not sure if this will delay the reconfiguration.. but maybe copy all of them to the /tmp folder when you start the application, can solve the issue.

I made that in the past to solve a similar issue and works perfectly: ( See: https://github.com/ipa320/cob_driver/blob/kinetic_dev/cob_mimic/src/mimic_node.cpp#L153-L157 )

• Define scenarios and evaluation metrics (from generality/reusability)
• Select/create host repository for this.
• Create owl files.
• Create test adaptation triggers.
• Run experiments and process results.