Bond vs Software_Watchdog? [ROS2]

asked 2021-06-11 11:55:16 -0500

1567 ●15 ●115 ●49

From what I can gather, bond (ros2 implementation) and the Safety Working Group's software_watchdog package have similar functionality, in that they allow nodes to "check in" on each other and ensure the nodes are operating as expected by publishing a heartbeat periodically.

I am wondering if someone more familiar with these packages could offer some insight on how they might be different or when you might want to use one vs. the other?

answered 2021-06-11 13:36:59 -0500

stevemacenski

8272 ●34 ●503 ●129 https://www.linkedin.c...

Almost certainly software_watchdog. We use bond in Nav2 because we set that up before software_watchdog or the similar DDS capabilities were exposed in ROS2. I'd be happy to move over to software_watchdog if someone had some cycles to convert us over!

edit flag offensive delete link

Comments

We use bond in Nav2 because we set that up before software_watchdog or the similar DDS capabilities were exposed in ROS2

to make it a bit more explicit: software_watchdog can make use of the liveness and heartbeat detection infrastructure supported by DDS. That was not available when bond was created (which is a ROS 1 package, and the ROS 2 version is an almost straight port).

I believe that's what @stevemacenski is implicitly referring to.

gvdhoorn ( 2021-06-12 04:45:04 -0500 )edit

That helps clarify, thanks to both of you

shonigmann ( 2021-06-12 12:32:24 -0500 )edit

add a comment

Bond vs Software_Watchdog? [ROS2]

1 Answer

Comments

Question Tools

Stats

Related questions

Bond vs Software_Watchdog? [ROS2] edit

1 Answer

Comments

Question Tools

Stats

Related questions

Bond vs Software_Watchdog? [ROS2]