Data Flow Analysis in ROS
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 6Language: englishTyp: PDF
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Authors:
Forouher, Dariush; Hartmann, Jan; Maehle, Erik (Institute of Computer Engineering, University of Luebeck, Germany)
Abstract:
This paper presents an enhancement to the Robot Operating System (ROS), which provides statistics about the data flow between nodes inside the ROS framework. These statistics measurements include message frequency, transportation delay and other metrics on connections between ROS nodes. We enhanced an existing ROS tool, which displays connections between nodes, so that it also displays these measurements. On this basis, we further present a change detection mechanism, using these measurements to detect errors and provide an overall robot health status.