Service Robotics Research Center
at Ulm University of Applied Sciences

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We provide tutorials to learn applying and using the SmartMDSD Toolchain. We recommend to go through the material in the listed order. In case you get into trouble, see Contact and Support. Some of the tutorials are also available as video tutorial in a YouTube Playlist

In addition, note our list of HowTo's that provide very precise and short descriptions of a specific task in the SmartMDSD Toolchain.

Experience Levels

If you only want to try things out but do not want to touch your system, please use the Virtual Machine setup. Even though you can follow all tutorials with the virtual machine, we recommend to setup an own enviroment for tutorial levels „advanced“ and „experienced“.

beginner For people just getting in touch with our tools. Basic robotics knowledge is a plus.
advanced For full fledged users who want to apply all parts of the SmartSoft World.
experienced For the full user and robotics experts who want to understand, deeply apply, exploit, and eventually contribute to the SmartSoft World.

Lesson 1: Looking at an existing system and running it

This lesson guides you through the SmartMDSD Toolchain and software development environment to get an overview and comfortable entry. The effort to follow these tutorials is fairly low since we provide a virtual machine image (virtual machine appliance) with everything set-up and ready-to-go.

Lesson 2: Working with the SmartMDSD Toolchain, Develop your own component and System for Simulation

  • Developing Your First Domain Model
    Complete the picture of component modeling and become able to fully develop your component with custom services: understand how to model a service definition and communication object.

Lesson 3: Real-World Deployment

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This lesson describes how to deploy software components to real-world robots. In the examples, we use a Pioneer P3DX robot.

Lesson 4: OPC Unified Architecture (OPC UA)

This lesson describes how to use the SmartMDSD Toolchain with the OPC Unified Architecture (OPC UA). More specifically, the lesson describes how to model and use a Mixed-Port Component for OPC UA.

Lesson 5: Interfacing with ROS Subsystems

This expert-level lesson describes how to access ROS nodes from the SmartMDSD Toolchain, i.e. how to use an existing ROS subsystem with the SmartMDSD Toolchain. More specifically, the lesson describes how to model and use a Mixed-Port Component for ROS.

Lesson 6: Raspberry Pi

This expert-level lesson describes everything you need to get started with the SmartMDSD Toolchain and Raspberry Pi. We will use the example of a LED-powered traffic light.

Lesson 7: GoPiGo Robot and Webots Simulator

This advanced lesson describes how to use the SmartMDSD Toolchain with the GoPiGo Robot from Dexter Industries. The lesson covers a tutorial for getting started in pure software using simulation and how to operate the hardware robot. A video demonstration of the GoPiGo and Webots simulator is available at

Lesson 8: Dependency-Graph extensions for SmartMDSD Toolchain (SmartDG)

Dependency Graphs are networks of dependencies that emerge from the flow of system-level characteristics, controlled by evidence and business logic. Dependency Objects are entities that encapsulate a distinct system characteristic of the system that is relevant to and are altered by components and connectors that compose the system.

This lesson describes how to use the SmartMDSD Toolchain with SmartDG: The Dependency-Graph extensions for SmartMDSD Toolchain. More specifically, these lessons give a detailed account of how to add Dependency Graph Elements to existing SmartMDSD components and system projects. This tutorial is also available as video tutorial.

  • SmartDG : Import and Use Tier-2 Environments and Service models
    A Tier-2 SmartDG Environment allows declaration of domain-specific Dependency Objects, Software Components, and approved Transfer Functions for Components provided by their manufacturers. This tutorial describes how to import and use a Tier-2 domain-specific SmartDG Environment model. This tutorial further describes how to import any SmartDG Service model in the workspace.
    This tutorial is also available as video tutorial.

:!: To use the SmartDG feature, wait for SmartMDSD Eclipse Toolchain and Virtual Machine (To be released very soon) :!:


Additional material

Upcoming Tutorials

  • Deploying additional files
  • Component Mode Definition and usage + life-cycle
  • Skill modeling

Former and Outdated Material

  • See video tutorials of the v2-generation of the SmartMDSD Toolchain at YouTube.
  • You can also find screencasts of the SmartMDSD Toolchain's first generation as of 2009 (outdated).
tutorials/start.txt · Last modified: 2020/11/24 19:41 by Vineet Nagrath