Original paper
Drums
Published: Dec 7, 2015
Abstract
We introduce Drums, a new tool for monitoring and debugging distributed robot systems, and a complement to robot middleware systems. Drums provides online time-series monitoring of the underlying resources that are partially abstracted away by middleware like the Robot Operating System (ROS). Interfacing with the middleware, Drums provides de-abstraction and de-multiplexing of middleware services to reveal the system-level interactions of your...
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