扩展ROS运行时监控，支持服务与有序消息的实时验证。
ROSMonitoring 2.0: Extending ROS Runtime Verification to Services and Ordered Topics
- 新增对服务调用和消息发布顺序的监控能力。
- 在消防无人机系统中实现关键组件的实时运行验证。
- 适用于需高可靠性的分布式机器人系统开发与调试。
机器人应用的形式化验证因其混合特性和分布式架构而面临挑战。本文提出ROSMonitoring 2.0，是对原有框架的扩展，支持在ROS1（部分支持ROS2）环境中对话题（topics）和服务（services）进行运行时监控，并考虑消息发布与接收的顺序。该框架增强了实时性、安全性、可扩展性与互操作性。文中详述了为实现这些改进所作的修改，并通过一个涉及消防无人机特定组件的案例研究展示了实际监控效果。
原文摘要 · Abstract (English)
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both topics and services while considering the order in which messages are published and received. The framework has been enhanced to support these novel features for ROS1 -- and partially ROS2 environments -- offering improved real-time support, security, scalability, and interoperability. We discuss the modifications made to accommodate these advancements and present results obtained from a case study involving the runtime monitoring of specific components of a fire-fighting Uncrewed Aerial Vehicle (UAV).
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