Secure ROS annexes

Hardware and software versions

Raspberry Pi

• Raspberry Pi 2 Model B V1.1
• Raspbian Jessie 8 based HypriotOS

Arduino

• Arduino Uno R3
• USB connection
• description: Communication device
• product: Uno R3 (CDC ACM)
• vendor: Arduino (www.arduino.cc)
• physical id: 4
• bus info: usb@1:1.4
• version: 0.01
• serial: 64131383331351804161
• capabilities: usb-1.10
• configuration: driver=cdc_acm maxpower=100mA speed=12Mbit/s

ROS

• ROS Indigo ros-indigo-ros-core=1.1.4-0 in Docker container (in DockerHub)
• Dockerfile
• Communication: rosrun rosserial_server serial_node _port:=/dev/ttyACM0
• docker run --name rospiduino -h rospiduino -it -v /home/pi/rpd:/home/pi/rpd --group-add dialout --device=/dev/ttyACM0:/dev/ttyACM0:rw pablogn/rospiduino
• ROS code

Docker

• Docker 1.9.1 docker-hypriot_1.9.1-1_armhf.deb Checksum 20.11.2015

R

• R scripting front-end version 3.0.2 (2013-09-25)

Data files: CSV

Each data file contains a column of latencies under the experimental conditions. Value 0 of latency is a particular representation meaning that the message has been lost. For most treatments it is important to remove these null values as they have no proper meaning as latencies.

Data files:

• Data - zip format (26 MB)

Filenames express the executing conditions. Meaning for a filename "E04-P08000-G10-Q01-B016.csv":

• E04: Execution number 4 (1-6)
• P08000: 8 ms period (2, 3, 4, 5, 8, 16)
• G10: 10 kHz granularity (5, 10)
• Q01: Queue size of 1 (1, 10)
• B016: Data size: 16 bytes (0 - no encryption, 4, 16, 32, 64 and 128)

Graphics: Data plots and Density plots

Density plots are obtained after removing the undelivered messages represented as zeroes in data plots.

• Graphics: data plots and density plots
• Chooser: tool to visualise individual plots
• Ciphering influence: comparison of results depending on the size

Example: [ E04-P08000-G10-Q01-B016.csv ] (click on image to zoom-in)

Data plot	Density plot
[ E04-P08000-G10-Q01-B016-data.png ]	[ E04-P08000-G10-Q01-B016-dens.png ]