Poster: Deterministic Replay and Debugging for Robotic Systems
39th Annual Computer Security Applications Conference (ACSAC) 2023.
areas
Security,
Cyber-Physical Systems
abstract
As robotic and autonomous tech becomes more prevalent, so do the risks, especially in autonomous driving software. The widely used Robot Operating System (ROS) struggles to accurately reproduce scenarios for debugging. Our paper offers a novel solution, tackling non-determinism in ROS for deterministic replay and debugging. We focus on two key factors: message drops and network delays. We monitor message queues, detect drops, and optimize network delays by loading messages directly into subscriber memory.