ROSRV

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ROSRV is a runtime verification framework for the Robot Operating System (ROS) [1]. ROS is an open-source framework for robot software development, providing operating system-like functionality on heterogeneous computer clusters. With the wide adoption of ROS, its safety and security are becoming an important problem. ROSRV integrates seamlessly with ROS and works as a transparent monitoring infrastructure that intercepts the commands and messages passing through the system and performs monitoring actions upon events of interest. Safety and security properties can be defined in a formal specification language, and are ensured by monitors generated automatically from specifications.

Contents

Getting Started

Event Specification

Demo

Watch how the monitors interact with the robot LandShark [2]:


References

[1] ROS

[2] The LandShark UGV is a product of Black-i Robotics

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