Towards flexible Runtime Monitoring Support for ROS-based Applications
Sprache des Titels:
4th International Workshop on Robotics Software Engineering (RoSE?22)
Robotic systems are becoming common in different domains and for various purposes, such as unmanned aerial vehicles performing search and rescue operations, or robots operating in warehouses and manufacturing plants. Such systems are characterized by close interactions, or even collaborations, between hardware and machinery on the one hand, and humans on the other. Furthermore, as Cyber-Physical Systems (CPS) in general and robotic applications in particular typically operate in an emergent environment, unanticipated events can occur during their operation, making the need for runtime monitoring support a crucial yet often time-consuming task. Runtime monitoring typically requires establishing the infrastructure for collecting data from the System under Monitoring (SuM) and its various devices, aggregating and transporting the data to a monitoring framework for persistence and further processing, and finally, performing checks of functional and non-functional properties, to ensure the correct behavior, safety, and performance of the system.
In this paper, we present our initial efforts towards a flexible monitoring framework for ROS-based systems. We report on challenges for establishing runtime monitoring support, and then present our preliminary architecture that aims to significantly reduce the setup and maintenance effort when creating monitors and establishing constraint checks.