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학술대회 Distributed Logging System for ROS-based Systems
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구용본, 김성훈
International Conference on Big Data and Smart Computing (BigComp) 2019, pp.668-670
19HS4600, 스마트카의 자율주행을 위한 실시간 센싱융합처리가 가능한 커넥티드 드라이빙 컴퓨팅 시스템 기술 개발, 김성훈
The Robot Operating System (ROS) is a widely-used development and service platform for robot clusters and autonomous driving systems. ROS provides a data logging tool named ROSBAG to record and play back messages between processes into permanent storage devices. Despite of its excellent functionality for distributed communication, only a single logging node is allowed to gather data streams. Although such a single node logging is only appropriate for small systems, it does not have the capability to deal with big data distributed systems. In this paper, we present a distributed logging system for ROS-based systems. We wrapped ROSBAG tools with a Python-based parallel ssh tool - pssh to send commands to start and stop logging. We also supported a synchronous replay method to play back the data streams separately stored in several storage devices. Our mechanism can evenly distribute bandwidth consumption of storage and networks for collecting and storing data. It also disperses the logging data into the storage devices in several computers and improves the available logging duration previously restricted by storage capacity.
KSP 제안 키워드
Autonomous driving system, Bandwidth consumption, Big Data, Data stream, Distributed System(DS), Robot operating system(ROS), Storage device, based system, data logging, distributed communication, logging data