Modeling and Recovering Hierarchical Structural Architectures of ROS 2 Systems from Code and Launch Configurations using LLM-based Agents
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arXiv
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| Autores principales: | , , , , , , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Materias: | |
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| _version_ | 1866914341877448704 |
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| author | Benchat, Mohamed Briechle, Dominique Chanchad, Raj Chauhan, Mitbhai Chavda, Meet He, Ruidi Jajadiya, Dhruv Kapadiya, Dhruv Kaswala, Nidhiben Osterholz, Daniel Rausch, Andreas Zhang, Meng |
| author_facet | Benchat, Mohamed Briechle, Dominique Chanchad, Raj Chauhan, Mitbhai Chavda, Meet He, Ruidi Jajadiya, Dhruv Kapadiya, Dhruv Kaswala, Nidhiben Osterholz, Daniel Rausch, Andreas Zhang, Meng |
| contents | Model-Driven Engineering (MDE) relies on explicit architecture models to document and evolve systems across abstraction levels. For ROS~2, subsystem structure is often encoded implicitly in distributed configuration artifacts -- most notably launch files -- making hierarchical structural decomposition hard to capture and maintain. Existing ROS~2 modeling approaches cover node-level entities and wiring, but do not make hierarchical structural (de-)composition a first-class architectural view independent of launch artifacts.
We contribute (1) a UML-based modeling concept for hierarchical structural architectures of ROS~2 systems and (2) a blueprint-guided automated recovery pipeline that reconstructs such models from code and configuration artifacts by combining deterministic extraction with LLM-based agents. The ROS~2 architectural blueprint (nodes, topics, interfaces, launch-induced wiring) is encoded as structural contracts to constrain synthesis and enable deterministic validation, improving reliability.
We evaluate the approach on three ROS~2 repositories, including an industrial-scale code subset. Results show high precision across abstraction levels, while subsystem-level recall drops with repository complexity due to implicit launch semantics, making high-level recovery the remaining challenge. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_18644 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Modeling and Recovering Hierarchical Structural Architectures of ROS 2 Systems from Code and Launch Configurations using LLM-based Agents Benchat, Mohamed Briechle, Dominique Chanchad, Raj Chauhan, Mitbhai Chavda, Meet He, Ruidi Jajadiya, Dhruv Kapadiya, Dhruv Kaswala, Nidhiben Osterholz, Daniel Rausch, Andreas Zhang, Meng Software Engineering Model-Driven Engineering (MDE) relies on explicit architecture models to document and evolve systems across abstraction levels. For ROS~2, subsystem structure is often encoded implicitly in distributed configuration artifacts -- most notably launch files -- making hierarchical structural decomposition hard to capture and maintain. Existing ROS~2 modeling approaches cover node-level entities and wiring, but do not make hierarchical structural (de-)composition a first-class architectural view independent of launch artifacts. We contribute (1) a UML-based modeling concept for hierarchical structural architectures of ROS~2 systems and (2) a blueprint-guided automated recovery pipeline that reconstructs such models from code and configuration artifacts by combining deterministic extraction with LLM-based agents. The ROS~2 architectural blueprint (nodes, topics, interfaces, launch-induced wiring) is encoded as structural contracts to constrain synthesis and enable deterministic validation, improving reliability. We evaluate the approach on three ROS~2 repositories, including an industrial-scale code subset. Results show high precision across abstraction levels, while subsystem-level recall drops with repository complexity due to implicit launch semantics, making high-level recovery the remaining challenge. |
| title | Modeling and Recovering Hierarchical Structural Architectures of ROS 2 Systems from Code and Launch Configurations using LLM-based Agents |
| topic | Software Engineering |
| url | https://arxiv.org/abs/2602.18644 |