ROSfs: A User-Level File System for ROS
Fuente:
arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866911919157280768 |
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| author | Xu, Zijun Wen, Xuanjun Song, Yanjie Yin, Shu |
| author_facet | Xu, Zijun Wen, Xuanjun Song, Yanjie Yin, Shu |
| contents | We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible data query while the data file is under modification. It provides multi-robot systems (MRS) with prompt cross-robot data acquisition and collaboration. We implemented a ROSfs prototype and integrated it into a mainstream ROS platform. We then applied and evaluated ROSfs on real-world UAVs and data servers. Evaluation results show that compared with traditional ROS storage methods, ROSfs improves the offline query performance by up to 129x and reduces inter-robot online data query latency under a wireless network by up to 7x. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_10635 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | ROSfs: A User-Level File System for ROS Xu, Zijun Wen, Xuanjun Song, Yanjie Yin, Shu Robotics Databases Operating Systems We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible data query while the data file is under modification. It provides multi-robot systems (MRS) with prompt cross-robot data acquisition and collaboration. We implemented a ROSfs prototype and integrated it into a mainstream ROS platform. We then applied and evaluated ROSfs on real-world UAVs and data servers. Evaluation results show that compared with traditional ROS storage methods, ROSfs improves the offline query performance by up to 129x and reduces inter-robot online data query latency under a wireless network by up to 7x. |
| title | ROSfs: A User-Level File System for ROS |
| topic | Robotics Databases Operating Systems |
| url | https://arxiv.org/abs/2406.10635 |