Message flow analysis with complex causal links for distributed ROS 2 systems

Bédard, Christophe; Lajoie, Pierre-Yves; Beltrame, Giovanni; Dagenais, Michel R.

doi:10.1016/j.robot.2022.104361

Cited by 9 publications

(2 citation statements)

References 15 publications

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“…Safety-critical systems typically include a subset of hard real-time tasks whose deadlines should be guaranteed off-line in all execution scenarios to ensure the correct operation of the system. This is relevant in several application domains, such as robotics [1]- [4], autonomous driving [5]- [8], smart cities [9,10], and Industry 4.0 [11,12].…”

Section: Introductionmentioning

confidence: 99%

Maximizing the Security Level of Real-Time Software While Preserving Temporal Constraints

et al. 2023

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Embedded computing systems are becoming increasingly relevant in the Internet of Things (IoT) and edge computing domains, where they are often employed as the control entity of a cyber-physical system. When operating in such interconnected domains, a software system is susceptible to cyber-attacks from external agents, which can compromise the correct behavior of the system. In addition, the software executing in these systems is typically characterized by stringent timing constraints, which must be satisfied during system execution. Enabling software protections to enhance the security level of the embedded software comes at the cost of increasing the computation times of the tasks, introducing the risk of deadline misses that could also jeopardize the system behavior. This paper presents a methodology to optimize the security level of real-time software while preserving system-wide schedulability by leveraging timing analysis. The proposed approach is based on a mixed-integer linear programming (MILP) formulation that maximizes the security level of the tasks and integrates a response-time analysis technique to assess the schedulability of the system whenever additional protections are activated to shield the software against cyber-attacks targeting specific classes of vulnerabilities. An experimental evaluation is presented to assess the performance of the proposed approach on a representative set of tasks included in standard benchmarking suites for embedded software.

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Section: Introductionmentioning

confidence: 99%

Maximizing the Security Level of Real-Time Software While Preserving Temporal Constraints

et al. 2023

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“…For the second challenge, the ROS ecosystem encompasses thousands of nodes with complex dependency relationships and communication mechanisms. Gathering and organizing information about these nodes becomes highly difficult and time-consuming [7]. For the last challenge, the lack of consistent documentation and examples in ROS node code, which different developers often write, poses a significant challenge in understanding and maintaining the code.…”

Section: Introductionmentioning

confidence: 99%

An Effective Method for Constructing a Robot Operating System Node Knowledge Graph Based on Open-Source Robotics Repositories

Zhao,

Mao,

Yang

2023

Electronics

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Robot software development can be considered as a component-driven process, and existing ROS components, such as an ROS node, can be reused to construct robot applications. By reusing the ROS node, the development process of robot software can be significantly accelerated. However, the challenges in reusing ROS nodes primarily lie in the scattered organization of ROS node information. To address this challenge, this paper proposes a method to construct an ROS node knowledge graph (RNKG) based on high-quality open-source robot projects. In order to build a high-quality knowledge graph of ROS nodes, we first constructed a high-quality dataset of open-source robot projects. Since ROS node knowledge can exist in both text and code formats, we initially separated the data in the dataset into code data and text data, and then applied different knowledge extraction methods to extract corresponding entities. Finally, we integrated a series of ROS node knowledge and organized it into a knowledge graph. To validate the effectiveness of the constructed ROS node knowledge graph, we first verified the completeness of the entities and the accuracy of relationships in the knowledge graph. Next, we evaluated the performance of the ROS node knowledge graph in assisting developers with the downstream task of finding ROS nodes. These findings suggest that our proposed method for constructing an ROS node knowledge graph is feasible and demonstrate that the ROS node knowledge graph helps search ROS nodes.

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Comparison of Middlewares in Edge-to-Edge and Edge-to-Cloud Communication for Distributed ROS 2 Systems

Zhang,

Yu,

et al. 2024

J Intell Robot Syst

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The increased data transmission and number of devices involved in communications among distributed systems make it challenging yet significantly necessary to have an efficient and reliable networking middleware. In robotics and autonomous systems, the wide application of ROS 2 brings the possibility of utilizing various networking middlewares together with DDS in ROS 2 for better communication among edge devices or between edge devices and the cloud. However, there is a lack of comprehensive communication performance comparison of integrating these networking middlewares with ROS 2. In this study, we provide a quantitative analysis for the communication performance of utilized networking middlewares including MQTT and Zenoh alongside DDS in ROS 2 among a multiple host system. For a complete and reliable comparison, we calculate the latency and throughput of these middlewares by sending distinct amounts and types of data through different network setups including Ethernet, Wi-Fi, and 4G. To further extend the evaluation to real-world application scenarios, we assess the drift error (the position changes) over time caused by these networking middlewares with the robot moving in an identical square-shaped path. Our results show that CycloneDDS performs better under Ethernet while Zenoh performs better under Wi-Fi and 4G. In the actual robot test, the robot moving trajectory drift error over time (96 s) via Zenoh is the smallest. It is worth noting we have a discussion of the CPU utilization of these networking middlewares and the perfosrmance impact caused by enabling the security feature in ROS 2 at the end of the paper.

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Message flow analysis with complex causal links for distributed ROS 2 systems

Cited by 9 publications

References 15 publications

Maximizing the Security Level of Real-Time Software While Preserving Temporal Constraints

Maximizing the Security Level of Real-Time Software While Preserving Temporal Constraints

An Effective Method for Constructing a Robot Operating System Node Knowledge Graph Based on Open-Source Robotics Repositories

Comparison of Middlewares in Edge-to-Edge and Edge-to-Cloud Communication for Distributed ROS 2 Systems

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