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D5.2 Software architecture implementation and system modules integration - ABSTRACT
This document is a written report describing the approach and key processes followed by the task T5.2.” Implementation of the Defined Architecture and System Modules Integration”. T5.2 was the task responsible for the integration process of ShareWork software system modules granting compatibility & reliability of their interoperation, which adheres to the second (b) goal of WP5. “the continuous integration of system modules granting compatibility and reliability of their interoperation”
T5.2 is based on the output of Task T1.4 “Definition of the Software Architecture” which defined the ShareWork reference software architecture that was described in deliverable D1.5 “Design of the robotic system hardware and software architecture”.
In order to support the implementation of the architecture, in T5.2 a streamlined integration process has been defined for the ShareWork modules integration that is supported by a set of state-of-the-art online tools. In particular the ShareWork consortium decided to use a GIT and Docker based integration process. To this end, a private GIT source control management system has been setup and configured specifically to support the software module integration needs of the ShareWork modules.
In addition, a private Docker Hub repository has been setup in order to facilitate and accelerate the sharing of software images of the different modules. Docker and in particular the docker compose functionality also streamline the integration process by facilitating the composition, distribution and deployment of the developed images into a working system.
The integration process has followed an agile approach. Tests have been planned and performed using functionalities such as ROS bag, that in some cases lead to improvements in the interfaces developed within D1.5.
The integration process was also supported by real code examples, detailed instructions, tests and demos that not only supported the integration process but also provided great validation feedback that will be very useful to both module developers as well as Pilot Case coaches in the next steps.
A key aspect of the ShareWork integration process is the modularity of the system as designed in the ShareWork reference architecture. The benefit of this aspect is that it allows using all, or just some of the ShareWork modules in order to propose lean customized solutions, while at the same time offering interfaces that can be used for system extension an integration with other modules.
The next steps would be to utilize the integrated ShareWork software system modules in the mock up scenario as well as the Pilot Cases of Work Package 7 “Demonstrator, Integration, Test and Validation”. The ShareWork consortium and in particular the Pilot Case coaches together with the software module developers will utilize the different modules in order to demonstrate, validate and assess the ShareWork Human Robot Collaborative system.