ROSfs: A User-Level File System for ROS
<|reference_start|>ROSfs: A User-Level File System for ROS: We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible data query while the data file is under modification. It provides multi-robot systems (MRS) with prompt cross-robot data acquisition and collaboration. We implemented a ROSfs prototype and integrated it into a mainstream ROS platform. We then applied and evaluated ROSfs on real-world UAVs and data servers. Evaluation results show that compared with traditional ROS storage methods, ROSfs improves the offline query performance by up to 129x and reduces inter-robot online data query latency under a wireless network by up to 7x.<|reference_end|>
@article{xu2024rosfs:,
    title={ROSfs: A User-Level File System for ROS},
    author={Zijun Xu, Xuanjun Wen, Yanjie Song, Shu Yin},
    journal={arXiv preprint arXiv:2406.10635},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.10635},
    primaryClass={cs.RO cs.DB cs.OS}
}