Architecture and interfaces
Node graph, topics, services, actions, namespaces, lifecycle nodes, dependencies and separation of responsibilities.
ROS 2 audit
ROS 2 architecture audit and diagnostics
Does your robot work in demos but remain unstable, hard to diagnose or costly to evolve? We analyze its ROS 2 architecture and turn observed symptoms into verifiable technical actions.
When to audit
Connect field symptoms with their causes.
Analysis
A review of the system, beyond the code.
Timing and data
QoS, frequencies, latency, synchronization, timestamps, rosbag, TF frames and sensor data consistency.
Navigation and control
Odometry, robot_localization, Nav2, costmaps, planners, controllers and ros2_control interfaces.
Deployment
Launch files, parameters, containers, automatic startup, monitoring, logs and environment reproducibility.
Deliverables
An improvement plan your team can use.
The audit delivers a summary of findings, risks and recommended corrections. Actions are prioritized by impact, urgency and estimated effort, with validation methods where the context allows.
Process
Observe, reproduce, measure, prioritize.
FAQ
Frequently asked questions
What should we provide for a ROS 2 audit?
Depending on the issue: code repository, package and version list, URDF, parameters, launch files, architecture diagram, logs, rosbags and precise descriptions of failure scenarios.
Does the audit require access to the robot?
Not always. Initial analysis can use code, configuration, logs and rosbags. Hardware access becomes useful when the fault depends on sensors, networking, computing or real dynamics.
Can you implement the corrections afterwards?
Yes. Corrections can be handled as a separate engagement, using validation criteria from the audit.
Can you audit Nav2 and TF transforms?
Yes. We check frames, odometry, costmaps, frequencies, planner and controller parameters, and recovery behaviors.
Project
ROS 2 behavior that is hard to explain?
Describe the robot, ROS 2 distribution, scenario and observed symptoms.