Abstract:In this chapter we discuss the problem of master failure in ROS1.0 and its impact on robotic deployments in the real world. We address this issue in this tutorial chapter where we outline, design and demonstrate a fault tolerant mechanism associated with ROS master failure. Unlike previous solutions which use primary backup replication and external checkpointing libraries which are process heavy, our mechanism adds a lightweight functionality to the ROS master to enable it to recover from failure. We present a… Show more
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