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.
|Title of host publication||ISR/Robotik 2014; 41st International Symposium on Robotics|
|Number of pages||6|
|Publisher||VDE Verlag GmbH|
|Publication status||Published - 01.06.2014|
|Event||Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014 - Munich, Germany|
Duration: 02.06.2014 → 03.06.2014
Conference number: 114598