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I'm looking for the safety function like diagnostics system or message_filter.
I would like to know about other function that ensures the safety for ROS based robot system.
Is there a function like this?
ROS 1 really doesn't have any built-in "functional safety". Typically, this is handled below the level of ROS - for instance, a mobile robot which complies with ISO 13849 will typically use a safety laser scanner with a hardware safety controller (I've previously used a SICK S300 and FlexiSoft) and then have ROS do the high level navigation. As long as the high level navigation is working OK, you never "hit" the safety limits being enforced by the lower level hardware. Should something die in ROS, the functionally safe components below do their job as designed and certified. This also means that the ROS-level code can change more often as it is NOT part of the safety assessment.
Asked: 2020-08-19 04:07:57 -0500
Seen: 234 times
Last updated: Aug 22 '20
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I dont think ROS has much to offer, but ROS2 introduced the "managed node" concept link text , but maybe I took the question the wrong way?
Dragonslayer Thank you for your reply. It is certainly a function of the stability of the system. Thank you. Do you know any other features?
You mentioned the watchdog timer in the other comment already, besides that I only red about people speculating about building their own system management stuff, but it likely introduces more instability than it solves. (specially if want to make it comply with ISOs and verification and stuff) ROS2 seems the most easy way to go, it was made with better stability in mind. But as fergs has already written you might sideline the whole issue with a hardware safety controller. I dont see ROS park my car relying on itself.
Dragonslayer Thank you. In short, ROS1 doesn't have an official tool for safety functions? I'm sad to hear that.
@castpuz: ROS1 was never designed for the use-cases you seem to have in mind.
It is a platform primarily created for research purposes, which has certainly been used by companies to create products and very successfully so, but the design never had productisation, commercialisation or certification in mind.
ROS 2 -- sometimes called "ROS for products" -- is entirely different.
You may want to look into that.