MAUVE Toolchain

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, an LTTng tracepoint library to log real-time traces of components;
• mauve_runtime, a C++ API to develop and deploy architectures made of components, that have a real-time activity, and resources that own data or processing shared between components;
• mauve_base_components, a set of standard elements for MAUVE architectures, like periodic state machines, multiplexing resources, ...;
• mauve_types, a library of standard robotic types, partly inspired from ROS messages;
• mauve_ros, specific resources to publish/subscribe data from ROS topics, along with conversion function between ROS messages and specific structures of your architecture;
• mauve_tutorials, that contains example files based on the tutorials available on MAUVE web page.