The MAUVE Toolchain

MAUVE is a design and validation toolchain for developing software architectures of robots, or more generally autonomous systems and cyber-physical systems. MAUVE settles on the paradigm of component-based architectures, and integrates:

• a Runtime to develop components and component-based architectures and deploy them in real-time,
• Tools to analyze real-time traces, evaluate properties, check schedulability, implement reconfigurations, ...

The toolchain contains the following packages:

• MAUVE Tracing (git repo), an LTTng tracepoint library to log real-time traces of components;
• MAUVE Runtime (git repo), a C++ API to develop and deploy architectures made of components, that have real-time activities, and resources that own data or processing shared between components;
• MAUVE Types (git repo), a library of standard robotic types, partly inspired from ROS messages;
• MAUVE ROS (git repo), specific resources to publish/subscribe data from ROS topics, along with conversion function between ROS messages and specific structures of your architecture;
• MAUVE Tutorials (git repo), that contains example files based on the tutorials available on the MAUVE web page.