Internship Robotics Engineering

Riwo Logo RIWO | Specialist in industriële automatisering, mobiele-, machine- en procesbesturing Internship Robotics Engineering | Alternatives to ROS 2 Launch for process management

• Starting in September - Oldenzaal, Overijssel - Internship allowance The current software architecture of the apple picking robot uses multiple layers to start and manage processes: systemd starts containers, containers run Bash scripts, which start ROS Launch, which in turn starts the ROS nodes. This layered setup introduces several issues which occur because ROS Launch is not a true process manager. Process signal handling is unreliable, watchdogs/heartbeats for node liveliness checks are limited, and systemd has no visibility into individual node processes. As a result, node failures are not detected or handled inefficiently, health checks rely on manually maintained process lists, and we often need full container restarts. To improve system robustness and maintainability, we want to look for alternatives to the ROS Launch system to manage ROS node processes. The goal is to create a more robust, transparent, and maintainable process management solution. Robotics Engineering Your assignment Apply direct Your assignment is to investigate alternatives to the ROS Launch system for complex node management. The challenge consists of several parts: - Architecture redesign: Identify the requirements for the node management architecture, keeping in mind dockerization, multi-PC setups, and Node Composition; - Process management: Ensure proper handling of node process lifecycle, including startup, shutdown, and crash recovery; - Automation: Investigate and implement methods to generate the node management architecture from existing ROS Launch configurations; - Dynamic behavior: Ensure that the solution supports both statically defined nodes and dynamically composed systems; - Validation: Test the new setup under failure scenarios and compare behavi...