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.

翻译：本文提出ROSfs，一种面向机器人操作系统（ROS）的新型用户级文件系统。ROSfs将机器人文件解释为一组具有不同标签的子文件。该系统采用时间索引结构，以增强数据文件在修改过程中的灵活查询能力。它为多机器人系统（MRS）提供了快速的跨机器人数据获取与协作支持。我们实现了一个ROSfs原型，并将其集成到主流的ROS平台中。随后，我们在真实世界的无人机和数据服务器上应用并评估了ROSfs。评估结果表明，与传统的ROS存储方法相比，ROSfs将离线查询性能最高提升了129倍，并在无线网络环境下将机器人间的在线数据查询延迟最高降低了7倍。