Redundancy of safety-critical components is essential for autonomous vehicles and robots, where reliability and availability are critical. Therefore, this talk introduces the Failover ROS framework (FOROS), a new open source package that uses the RAFT consensus algorithm to implement ROS 2 node redundancy. This framework makes it easy to organize nodes with the same mission into a cluster. Also, when a cluster is configured, one active node is automatically elected through consensus-based leader election, and nodes within the cluster can share data through consensus-based shared queue.
Presented by: Wonguk Jeong (42dot.ai)
