Method for improving system reliability in robotic operating system
An operating system and a system-enhancing technology, applied in the field of robotics, can solve problems such as shortages, achieve the effects of improving reliability, facilitating powerful detection tools, and providing flexibility and versatility
Active Publication Date: 2017-10-24
NO 32 RES INST OF CHINA ELECTRONICS TECH GRP
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Problems solved by technology
[0005] Reliability is a very important design consideration in robot systems, but the current ROS software platform lacks this consideration
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[0024] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
[0025] like figure 1 As shown, the method for improving system reliability in the robot operating system of the present invention may further comprise the steps:
[0026] Step 1, providing system multi-level health monitoring, specifically includes the following steps:
[0027] Step 11: Enable the health monitoring function of the software node, and record the running status and performance statistics in a unified data format on each ROS software node, such as the node's data packet size, data pa...
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The present invention provides a method for improving system reliability in a robotic operating system. The method comprises the following steps: step 1, providing multi-level health monitoring of the system; and step 2, using a highly available management framework middleware. According to the method provided by the present invention, the highly available management framework middleware is introduced above the kernel operating system of the hardware node, the hardware and software nodes of the ROS system run under the protection of the highly available management framework, and when the node error occurs, the function of the node can be automatically recovered according to the fault protection strategy, and the reliability of the ROS system can be improved; health monitoring data is used to provide multi-level health monitoring and performance statistics analysis during the system running, and can be visually displayed in a graphical manner, so that convenient and powerful detection tools are provided; and compatible with the current ROS software node application module, the existing software application node module can run on the highly available framework without modification, and can be interconnected with the ROS software node which does not use the highly available framework, so that system flexibility and versatility are improved.
Description
technical field [0001] The invention relates to a robot technology, in particular to a method for improving system reliability in a robot operating system. Background technique [0002] The robot system is composed of driving device, sensing device and control system, complex machinery and background decision-making system. All devices jointly determine the function and behavior characteristics of the robot through mutual cooperation and mutual influence. In order to meet the increasingly complex needs of robot software, many The robot software platform came into being. Robot software platform is currently the most active robot operating system ROS (Robot Operating System) project. At present, the ROS software platform has been applied to hundreds of ground, air, surface and underwater unmanned systems, and has become the de facto standard for robot application software platforms. [0003] ROS is distributed and runs on multiple hardware node operating systems based on the...
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IPC IPC(8): G06F11/30
CPCG06F11/3089
Inventor 邓畅刘荣宽李广左龙
Owner NO 32 RES INST OF CHINA ELECTRONICS TECH GRP