Rorg: Service Robot Software Management with Linux Containers

Abstract

Scaling up the software system on service robots significantly increases the maintenance burden of developers and the risk of resource contention of the computer embedded with robots. As a result, developers spend much time on configuring, deploying, and monitoring the robot software system; robots utilize significant computer resources when all software processes are running. We propose Rorg, a Linux container-based scheme to manage, schedule, and monitor software components on service robots. Although Linux container is already widely-used in cloud environments, this technique is challenging to efficiently adopt in service robot systems due to the unique characteristics of service robots — multi-purpose systems with resource limitations and high performance requirements. To pave the way of Linux containers on service robots in an efficient manner, we propose a programmable container management interface and a resource time-sharing mechanism incorporated with the robot operating system (ROS). Rorg allows the developers to pack software into self-contained images and runs them in isolated environments using Linux containers; it also allows the robot to turn on and off software components on demand to avoid resource contention. We evaluate Rorg with a long-term autonomous tour guide robot: It manages 41 software components on the robot and relieved our maintenance burden, and it also reduces CPU by 45.5% and memory usage by 16.5% on average.

Authors

Shengye Wang
Computer Science and Engineering, UC San Diego
shengye [at] ucsd.edu
Xiao Liu
Computer Science and Engineering, UC San Diego
x1liu [at] eng.ucsd.edu
Jishen Zhao
Computer Science and Engineering, UC San Diego
jzhao [at] eng.ucsd.edu
Henrik Christensen
Computer Science and Engineering, UC San Diego
hichristensen [at] eng.ucsd.edu

Paper

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Video

Poster

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Code/Data

Rorg can be downloaded at The documents contained in these directories are included by the contributing authors as a means to ensure timely dissemination of scholarly and technical work on a non-commercial basis. Copyright and all rights therein are maintained by the authors or by other copyright holders, notwithstanding that they have offered their works here electronically. It is understood that all persons copying this information will adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without explicit permission of the copyright holder.

Posted in ICRA.