Skip to main content

Using Gazebo to Generate Use Case Based Stimuli for SystemC

  • Conference paper
  • First Online:
  • 402 Accesses

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 873))

Abstract

Realistic simulations of new hardware are of utmost importance to achieve good results. The current approach to such simulations is that the Device under Test is exposed to stimuli that are either generated randomly, or that are generated by engineers reverse engineering the use cases and extending the inputs by some extreme cases. In this paper we describe an approach to generate useful stimuli for a SystemC simulation directly from a simulation of the use case. In this approach the use case is simulated using the Gazebo simulator. The stimuli for the Device under Test are then extracted and sent to the SystemC simulation.

This is a preview of subscription content, log in via an institution.

Buying options

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Koenig, N., Howard, A.: Design and use paradigms for Gazebo, an open-source multi-robot simulator. In: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No. 04CH37566). Institute of Electrical and Electronics Engineers (IEEE) (2004)

    Google Scholar 

  2. Open Source Robotics Foundation: Gazebo simulator (2004). http://www.gazebosim.org. Accessed 03 Jan 2017

  3. Accelera: SystemC (2000). http://accellera.org/downloads/standards/systemc. Accessed 17 Jan 2017

  4. Pieber, T.W., Ulz, T., Steger, C.: SystemC test case generation with the gazebo simulator. In: Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, pp. 65–72. INSTICC. SciTePress (2017)

    Google Scholar 

  5. Garage, W., Stanford Artificial Intelligence Laboratory: Robot Operating System (2007). http://www.ros.org/. Accessed 15 Feb 2018

  6. Metta, G., Fitzpatrick, P., Natale, L.: YARP: yet another robot platform. Int. J. Adv. Robot. Syst. 3, 8 (2006)

    Article  Google Scholar 

  7. Meyer, J., Sendobry, A., Kohlbrecher, S., Klingauf, U., von Stryk, O.: Comprehensive simulation of quadrotor UAVs using ROS and Gazebo. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds.) Simulation, Modeling, and Programming for Autonomous Robots, pp. 400–411. Springer, Heidelberg (2012)

    Chapter  Google Scholar 

  8. Zamora, I., Lopez, N.G., Vilches, V.M., Cordero, A.H.: Extending the OpenAI Gym for robotics: a toolkit for reinforcement learning using ROS and Gazebo. arXiv preprint arXiv:1608.05742 (2016)

  9. Mathworks: Get Started with Gazebo and a Simulated TurtleBot (2016). https://de.mathworks.com/help/robotics/examples/get-started-with-gazebo-and-a-simulated-turtlebot.html. Accessed 03 Jan 2017

  10. Panda, P.R.: SystemC - a modelling platform supporting multiple design abstractions. In: Proceedings of the 14th international symposium on Systems synthesis - ISSS. Association for Computing Machinery (ACM) (2001)

    Google Scholar 

  11. Bouchhima, F., Briere, M., Nicolescu, G., Abid, M., Aboulhamid, E.: A SystemC/Simulink co-simulation framework for continuous/discrete-events simulation. In: 2006 IEEE International Behavioral Modeling and Simulation Workshop. Institute of Electrical and Electronics Engineers (IEEE) (2006)

    Google Scholar 

  12. Huang, K., Bacivarov, I., Hugelshofer, F., Thiele, L.: Scalably distributed SystemC simulation for embedded applications. In: 2008 International Symposium on Industrial Embedded Systems. Institute of Electrical and Electronics Engineers (IEEE) (2008)

    Google Scholar 

  13. Mueller-Gritschneder, D., Lu, K., Wallander, E., Greim, M., Schlichtmann, U.: A virtual prototyping platform for real-time systems with a case study for a two-wheeled robot. In: Design, Automation and Test in Europe Conference and Exhibition (DATE). EDAA (2013)

    Google Scholar 

  14. Possadas, H., Adamez, J.A., Villar, E., Blasco, F., Escuder, F.: RTOS modeling in SystemC for real-time embedded SW simulation: a POSIX model. Des. Autom. Embed. Syst. 10, 209–227 (2005)

    Article  Google Scholar 

  15. Kirchner, T., Bannow, N., Grimm, C.: Analogue mixed signal simulation using Spice and SystemC. In: Proceedings of the Conference on Design, Automation and Test in Europe, DATE 2009, Leuven, Belgium, pp. 284–287. European Design and Automation Association (2009)

    Google Scholar 

  16. Bombana, M., Bruschi, F.: SystemC-VHDL co-simulation and synthesis in the HW domain. In: 2003 Design, Automation and Test in Europe Conference and Exhibition. IEEE Computer Society (2003)

    Google Scholar 

  17. Lee, W.S., Son, W.I., Oh, K.S., Yu, J.W.: Contactless energy transfer systems using antiparallel resonant loops. IEEE Trans. Ind. Electron. 60, 350–359 (2013)

    Article  Google Scholar 

  18. Strommer, E., Jurvansuu, M., Tuikka, T., Ylisaukko-oja, A., Rapakko, H., Vesterinen, J.: NFC-enabled wireless charging. In: 2012 4th International Workshop on Near Field Communication. Institute of Electrical and Electronics Engineers (IEEE) (2012)

    Google Scholar 

  19. Wireless Power Consortium, et al.: System description wireless power transfer. Volume I: Low Power, Part 1 (2010)

    Google Scholar 

  20. Nurseitov, N., Paulson, M., Reynolds, R., Izurieta, C.: Comparison of JSON and XML data interchange formats: a case study. Caine 2009, 157–162 (2009)

    Google Scholar 

  21. Sumaray, A., Makki, S.K.: A comparison of data serialization formats for optimal efficiency on a mobile platform. In: Proceedings of the 6th International Conference on Ubiquitous Information Management and Communication, ICUIMC 2012, pp. 48:1–48:6. ACM, New York (2012)

    Google Scholar 

Download references

Acknowledgements

This project has received funding from the Electronic Component Systems for European Leadership Joint Undertaking under grant agreement No 692480. This Joint Undertaking receives support from the European Union’s Horizon 2020 research and innovation programme and Germany, Netherlands, Spain, Austria, Belgium, Slovakia.

IoSense is funded by the Austrian Federal Ministry of Transport, Innovation and Technology (BMVIT) under the program “ICT of the Future” between May 2016 and May 2019. More information https://iktderzukunft.at/en/.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Thomas W. Pieber .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Pieber, T.W., Ulz, T., Steger, C. (2019). Using Gazebo to Generate Use Case Based Stimuli for SystemC. In: Obaidat, M., Ören, T., Rango, F. (eds) Simulation and Modeling Methodologies, Technologies and Applications . SIMULTECH 2017. Advances in Intelligent Systems and Computing, vol 873. Springer, Cham. https://doi.org/10.1007/978-3-030-01470-4_13

Download citation

Publish with us

Policies and ethics