Data Flow Analysis in ROS

D. Forouher; J. Hartmann; E. Maehle

Data Flow Analysis in ROS

D. Forouher, J. Hartmann, E. Maehle

Institut für Technische Informatik

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.

Originalsprache	Englisch
Titel	ISR/Robotik 2014; 41st International Symposium on Robotics
Seitenumfang	6
Herausgeber (Verlag)	VDE Verlag GmbH
Erscheinungsdatum	01.06.2014
Seiten	1-6
ISBN (Print)	978-3-8007-3601-0
Publikationsstatus	Veröffentlicht - 01.06.2014
Veranstaltung	Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014 - Munich, Deutschland Dauer: 02.06.2014 → 03.06.2014 Konferenznummer: 114598

UN SDGs

Dieser Output leistet einen Beitrag zu folgendem(n) Ziel(en) für nachhaltige Entwicklung

SDG 9 – Industrie, Innovation und Infrastruktur

Dokumente

https://ieeexplore.ieee.org/document/6840194

Weitere Links

https://www.scopus.com/pages/publications/84908432344

Zitieren

@inproceedings{6303ca7fdd794233be5f03340bed26ad,

title = "Data Flow Analysis in ROS",

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.",

author = "D. Forouher and J. Hartmann and E. Maehle",

year = "2014",

month = jun,

day = "1",

language = "English",

isbn = "978-3-8007-3601-0",

pages = "1--6",

booktitle = "ISR/Robotik 2014; 41st International Symposium on Robotics",

publisher = "VDE Verlag GmbH",

note = "Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014 ; Conference date: 02-06-2014 Through 03-06-2014",

}

Forouher, D, Hartmann, J & Maehle, E 2014, Data Flow Analysis in ROS. in ISR/Robotik 2014; 41st International Symposium on Robotics. VDE Verlag GmbH, S. 1-6, Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014, Munich, Bayern, Deutschland, 02.06.14. <https://ieeexplore.ieee.org/document/6840194>

TY - GEN

T1 - Data Flow Analysis in ROS

AU - Forouher, D.

AU - Hartmann, J.

AU - Maehle, E.

N1 - Conference code: 114598

PY - 2014/6/1

Y1 - 2014/6/1

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/84908432344

M3 - Conference contribution

SN - 978-3-8007-3601-0

SP - 1

EP - 6

BT - ISR/Robotik 2014; 41st International Symposium on Robotics

PB - VDE Verlag GmbH

T2 - Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014

Y2 - 2 June 2014 through 3 June 2014

ER -

Data Flow Analysis in ROS

Abstract

UN SDGs

Dokumente

Weitere Links

Fingerprint

Zitieren