The SmartMDSD Toolchain is an Integrated Development Environment (IDE) for robotics software to support system composition according to the structures of RobMoSys. It supports in applying the RobMoSys approach with the SmartSoft World.

• SmartMDSD Toolchain standalone download:
  • http://www.servicerobotik-ulm.de/files/SmartMDSD_Toolchain/releases/
• SmartMDSD Toolchain VirtualBox virtual machine image (development environment preinstalled):
  • http://web2.servicerobotik-ulm.de/files/virtual-machine/
  • Please note: Virtualbox in Ubuntu 16.04 is experiencing some difficulties with kernel 4.13. If that is the case, select the previous LTS-kernel 4.4 at boot-time, or install the latest version 5.2 of Virtualbox from www.virtualbox.org

A lot of documentation exists for the SmartMDSD Toolchain v2. As the SmartMDSD Toolchain v3 has just been released in March 2018, the documentation is currently being adapted and updated to v3. In the meantime, please refer to:

• See readme.txt on the VM guest OS desktop for further instructions how to use the virtual machine and preinstalled SmartMDSD Toolchain and SmartSoft Components
• PDF Readme accompanying the SmartMDSD Toolchain release
• Instructions how to use/run the Gazebo/TIAGo/SmartSoft Scenario that is included in the virtual machine image.

If you want to use the SmartMDSD Toolchain v3 you need the ACE/SmartSoft Framework v3 installed.

Documentation is currently being migrated from v2 to v3. Most parts work very similar. You might want to browse through:

• Video tutorials to be available shortly. In the meantime, refer to v2 video tutorials
• A user manual will be available. In the meantime, refer to the User Manual for v2
• A screencast demonstrates the look and feel of the v3-generation of the toolchain: Screencast. Please note: this screencast shows an outdated technology preview. The current v3 stable release works “similar” as shown in the technology preview.

This section contains specific examples (non-complete list) of how the SmartMDSD Toolchain supports the RobMoSys composition structures:

• Support for the RobMoSys Ecosystem Organization
• Support for Managing Cause-Effect Chains in Component Composition
• Support for Coordinating Activities and Life Cycle of Software Components
• Support for the Flexible Navigation Stack
• Support for Service-based Composition

The following previously developed/modeled building blocks and scenarios are available for immediate use:

• Domain Models Repositories: These are examples of RobMoSys Composition Tier 2
• Component Repository: These are examples of previously developed building blocks for Tier 3
• System Repository: These are examples of systems and applications on RobMoSys Composition Tier 3 that are composed from the building blocks
• The SmartMDSD Toolchain features the Gazebo/TIAGo/SmartSoft Scenario, another example of a robot application on Tier 3

The SmartMDSD Toolchain has been using various Eclipse Modeling technologies. It started in 2009 with the Itemis Open-Architecture Ware (OAW), then between 2013 and 2016 used Xtext, Xtend and UML Papyrus and is currently moving towards using the latest Eclipse Modeling technologies based on latest Xtext, Xtend and Sirius plugins. The figure below provides a schematic overview of the Eclipse technologies used for version 2.x and the transformation with the recent Eclipse technologies for version 3.x.

Overall, the SmartMDSD Toolchain provides various textual and graphical model editors as well as code generators to generate glue-logic for the SmartSoft framework and to generate configuration files.