Drums: A Middleware-Aware Distributed Robot Monitoring System

Author

Monajjemi, Valiallah ; Wawerla, Jens ; Vaughan, Rodney

Author_Institution

Sch. of Comput. Sci., Simon Fraser Univ., Burnaby, BC, Canada

fYear

2014

fDate

6-9 May 2014

Firstpage

211

Lastpage

218

Abstract

We introduce Drums, a new tool for monitoring and debugging distributed robot systems, and a complement to robot middleware systems. Drums provides online time-series monitoring of the underlying resources that are partially abstracted away by middleware like ROS. Interfacing with the middleware, Drums provides de-abstraction and de-multiplexing of middleware services to reveal the system-level interactions of your controller code, the middleware, OS and the robot(s) environment. We show worked examples of Drums´ utility for debugging realistic problems, and propose it as a tool for quality of service monitoring and introspection for robust autonomous systems.

Keywords

control engineering computing; middleware; program debugging; robots; Drums system; ROS; distributed robot debugging systems; middleware services; middleware-aware distributed robot monitoring system; realtime operating systems; robust autonomous systems; service monitoring; system-level interactions; time-series monitoring; Computer architecture; Libraries; Middleware; Monitoring; Robots; Sockets; Distributed Monitoring; Fault Detection and Diagnosis; Robot Monitoring System;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Robot Vision (CRV), 2014 Canadian Conference on

Conference_Location

Montreal, QC

Print_ISBN

978-1-4799-4338-8

Type

conf

DOI

10.1109/CRV.2014.36

Filename

6816845