How do you ensure your ROS code is reliable?

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Reliability is a key requirement for any software project, but especially for those involving robots that interact with the physical world. Robot Operating System (ROS) is a popular framework for developing and deploying robot applications, but it also poses some challenges and risks for ensuring code quality and robustness. In this article, you will learn some best practices and tools for writing reliable ROS code, from design to testing to deployment.

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Oliver Porter

Representing the best talent and companies in Robotics Software!
Gerard Kinneen

Helping Businesses who support people with ADHD | Your Destination for EdTech and HealthTech Solutions | How can our…

1 Use ROS standards and conventions

One of the benefits of ROS is that it provides a common interface and structure for communicating and organizing different components of a robot system. However, this also means that you need to follow some rules and conventions to make your code compatible and consistent with the ROS ecosystem. For example, you should use the standard ROS message types, topics, services, and actions, and follow the naming and formatting guidelines for packages, nodes, parameters, and launch files. You should also document your code using the ROS wiki and the Doxygen tool, and use the ROS C++ or Python style guides for formatting and readability.

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Vivek Gurve

?? M.Tech- ARTIFICIAL INTELLIGENCE AND MACHINE LEARNING ?? | PGD-INDUSTRIAL ROBOTICS ?? | B.E- MECHANICAL ENGINEERING ??
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Adhering to ROS standards and conventions is crucial for seamless integration and interoperability in robotics. Standard message types, topics, and services ensure consistency and compatibility across diverse robot systems. Following naming and formatting guidelines for packages, nodes, and parameters enhances clarity and maintainability. Documenting code with ROS wiki and Doxygen, alongside adhering to C++ or Python style guides, boosts readability and collaboration.

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2 Design modular and reusable code

Another advantage of ROS is that it enables you to design your code in a modular and reusable way, by separating different functionalities into nodes that can run independently and communicate through topics, services, or actions. This allows you to reuse existing code from other ROS packages or libraries, or create your own reusable components that can be integrated into different applications. To design modular and reusable code, you should follow some principles of software engineering, such as abstraction, encapsulation, cohesion, coupling, and inheritance. You should also use object-oriented programming, design patterns, and interfaces to define the behavior and interaction of your classes and nodes.

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Gerard Kinneen

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While adhering to ROS standards and conventions promotes compatibility and consistency, it can also limit innovation and adaptability to specific project needs. The emphasis on modular, reusable code, though beneficial for efficiency, might overlook the complexity and potential over-engineering in certain applications. Additionally, the extensive focus on testing and debugging, while crucial for reliability, could become a resource-intensive process, particularly for smaller teams or simpler projects.

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Vivek Gurve

?? M.Tech- ARTIFICIAL INTELLIGENCE AND MACHINE LEARNING ?? | PGD-INDUSTRIAL ROBOTICS ?? | B.E- MECHANICAL ENGINEERING ??
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Designing modular and reusable code is a cornerstone of efficient ROS development. By encapsulating functionalities into independent nodes that communicate via topics, services, or actions, ROS enables the seamless integration and reuse of code across various applications. Adhering to software engineering principles like abstraction, encapsulation, cohesion, and coupling, and employing object-oriented programming and design patterns, enhances the modularity and reusability of your code. These practices not only streamline development but also foster collaboration and innovation within the ROS community.

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3 Test your code thoroughly

Testing is an essential part of ensuring reliability, as it helps you to detect and fix errors, bugs, and defects in your code before they cause problems in the real world. ROS provides several tools and frameworks for testing your code at different levels, such as unit testing, integration testing, system testing, and simulation testing. For example, you can use the rostest package to run automated tests on your nodes, topics, services, and actions, using the built-in test nodes or the gtest or nose frameworks. You can also use the Gazebo simulator to test your code in a virtual environment, or the rosbag package to record and replay real data from your sensors and actuators.

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Vivek Gurve

?? M.Tech- ARTIFICIAL INTELLIGENCE AND MACHINE LEARNING ?? | PGD-INDUSTRIAL ROBOTICS ?? | B.E- MECHANICAL ENGINEERING ??
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Testing is crucial for ensuring the reliability of ROS-based applications. It helps identify and resolve errors, bugs, and defects before deployment. ROS offers various testing tools and frameworks, such as unit testing, integration testing, system testing, and simulation testing. The rostest package allows for automated testing using built-in test nodes or frameworks like gtest and nose. Additionally, the Gazebo simulator provides a virtual environment for testing, while the rosbag package enables recording and replaying real sensor and actuator data. Thorough testing ensures robust, reliable ROS applications.

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Oliver Porter

Representing the best talent and companies in Robotics Software!
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Thoroughly testing your ROS code ensures reliability and safety. Where the real world can be unpredictable, not putting your code through every scenario possible can lead to costly or dangerous outcomes. ROS systems often involve complex interactions between sensors, actuators, and algorithms, making it easy for bugs or misconfigurations to cause failures. Rigorous testing helps identify and fix these issues early, ensuring your robot performs as expected in all conditions, ultimately leading to more robust and dependable robotics systems.

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4 Debug your code effectively

Even with rigorous testing, you may still encounter errors or unexpected behaviors in your code, especially when you run it on a real robot. Therefore, you need to be able to debug your code effectively, by identifying the source and cause of the problem, and applying the appropriate solution. ROS offers several tools and techniques for debugging your code, such as logging, visualization, introspection, and tracing. For example, you can use the rospy or roscpp logging functions to print messages to the console or a file, the rqt or rviz tools to visualize your data or robot state, the rostopic or rosservice tools to inspect the topics or services in your system, or the roslaunch or roswtf tools to trace the execution and dependencies of your nodes and packages.

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5 Deploy your code securely

Finally, once you are satisfied with your code and its performance, you need to deploy it securely to your robot or target platform. This means that you need to ensure that your code is compatible with the hardware and software specifications of your robot, that it can run smoothly and reliably in different scenarios and environments, and that it is protected from unauthorized access or modification. ROS provides some tools and methods for deploying your code securely, such as cross-compiling, packaging, distributing, launching, and managing your code. For example, you can use the catkin or colcon tools to cross-compile your code for different architectures or operating systems, the bloom or snapcraft tools to package and distribute your code as binaries or snaps, the roslaunch or rosrun tools to launch and run your nodes or scripts, or the rosnode or rosmaster tools to manage the nodes and master in your system.

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Oliver Porter

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Deploying ROS code securely is crucial to protect against malicious attacks, unauthorized access, and data breaches. For a secure deployment you'll need to isolate the ROS network from public access, encrypting communications between nodes with protocols like TLS, and implementing authentication, for your nodes. Limiting user permissions and securing launch files prevent unauthorized modifications.

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6 Here’s what else to consider

This is a space to share examples, stories, or insights that don’t fit into any of the previous sections. What else would you like to add?

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How do you ensure your ROS code is reliable?

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1 Use ROS standards and conventions

2 Design modular and reusable code

3 Test your code thoroughly

4 Debug your code effectively

5 Deploy your code securely

6 Here’s what else to consider

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