Verified Generation of Glue Code for ROS-based Control Systems∗

The paper considers the problem of automatic generation of platform-specific glue code for platform-independent controller code. We present a code generator, ROSGen that generates the glue code based on a declarative specification of platform interfaces. Our implementation targets the popular Robot Operating System (ROS) platform. We demonstrate the code generation process is amenable to formal verification. The code generator is implemented in Coq and relies on the infrastructure provided the CompCert and VST tool. We prove that the generated code always correctly connects the controller function to sensors and actuators in the robot. We use ROSGen to implement a cruise control system on the LandShark robot.