Gesellschaft für Informatik e.V.

Lecture Notes in Informatics


Informatik 2014 P-232, 1319-1326 (2014).

Gesellschaft für Informatik, Bonn
2014


Copyright © Gesellschaft für Informatik, Bonn

Contents

Increasing ROS reliability and safety through advanced introspection capabilities

Andreas Bihlmaier and Heinz Wörn

Abstract


The Robot Operating System (ROS) brought together many different robotics research groups by providing a common software ecosystem. One important part of ROS is the publish-subscribe messaging infrastructure that facilitates building modular and reusable distributed robotics systems. However, the inherent complexity - flexibility, diversity and dynamics - of such a system opposes properties essential to robotics: reliability and safety. The paper details how to gain control of a ROS-based robotics system through the extension of ROS by advanced introspection capabilities. Once the introspection based on distributed gathering of metadata is in place, we are able to define a reference state for the whole ROS system. A monitoring node continuously compares the reference to the actual state. In case of a deviation the operator is alerted through a dashboard, in addition appropriate countermeasures can be initiated by the robotics system itself.


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Gesellschaft für Informatik, Bonn
ISBN 978-3-88579-626-8


Last changed 18.11.2014 21:17:53