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56 CHAPTER 6. SUMMARY AND FUTURE WORK
One next step is to extend frameworks like ROS or SMARTSOFT which already come with some
built in support for tf. This can be done by using the methods presented in Chapter 4 and should start
with the analysis of the existing systems by using their abstract representations. Further the simulation
used in Chapter 5 can be used to simulate parts of existing systems to determine the quality of transformations
without modifying the existing system. To actually do this the simulation framework must
be extended to allow better analysis and easier modelling of different systems. As an example how
a simulation framework can be designed is DESMO-J [11], which is a framework for Discrete-Event
Modelling and Simulation written in Java. The framework provides a lot of methods for modeling
event based systems, but it has a lack of tools to visualize 3D data. That is why the framework was
not chosen at the first time in this thesis.
In general tools must be provided to support the system integrator with the configuration of the
system. For these tools to work, component and hardware developers have to provide information
about the uncertainties of actuators like position and velocity uncertainty. Further an integration of
these tools in existing toolchains like the SMARTSOFT MDSD Toolchain [30] is desirable to use
existing information and to provide a consistent view on the system.
Until now only tf frames which describe the robot are considered. Further investigation should
be taken to extend the proposed methods to object frames or the robot frame in relation to the world
frame. For example, this extend would allow the system integrator to see if the position of an object is
known accurate enough to grasp it. The calculations should be mostly the same as the ones presented
in this work.