守护进程在ROS机器人上的应用

前天，我发现机器人在运行过程中出现程序异常退出，每次都需要重启程序或机器人。
如何解决此问题呢？我的思路是1.找问题根源，根治。2.若不能根治，防范。根治+防范确保程序的足够健壮。
接下来，找问题根源，就是找到程序bug，我看了源代码，无法判断，并且机器人不在身边，无法复现现象。只能留作后期解决。当务之际，先做好防范。我的机器人系统为ubuntu16.04，程序基于ROS构建。要确保ROS node节点用不退出，最好的方法是守护进程。下面是我的守护进程，基于shell编写。
思路是：1.做一个while 循环，不停的监控ros node 的进程状态，如过退出，则重启程序。2.考虑到三种状况。a.程序退出，直接重启，b.开启了同一个node的多个进程，杀死这个node的多个进程，再重启一个新的node进程。3.针对长期不动的僵尸node进程，直接清理之。下面直接上代码：
total.sh

#!/bin/sh

function process_monitor
{
  NUM=`ps aux | grep $1| grep -v grep |wc -l` #Get the number of processes based on the process name
 # echo process num:$NUM

  if [ "${NUM}" -lt "1" ];then #If the number of processes is less than 1, start a new process
	echo "$1 not exists,will launch..."
	gnome-terminal -x bash -c "sh ./run_total.sh $2;exec bash;"
 #  If the number of processes is greater than 1, kill all processes and restart a new process with the same name
  elif [ "${NUM}" -gt "2" ];then
	echo "more than 1 $1,killall $1"
	kill -9 $(ps -ef|grep $1|grep -v grep|awk '{print $2}')
	gnome-terminal -x bash -c "sh ./run_total.sh $2;exec bash;"
  fi
#    Kill zombie processes
   NUM_STAT=`ps aux | grep $1 | grep T | grep -v grep | wc -l` 
 
  if [ "${NUM_STAT}" -gt "0" ];then
   	kill -9 $(ps -ef|grep $1 |grep -v grep|awk '{print $2}')
  fi

}

while true
do
 # 1 is websocket 2 is slamware_ros_sdk_server_node 3 is move_action_server ,4 is speed_control_service

 process_monitor rosbridge_server  "1"
 process_monitor slamware_ros_sdk_server_node  "2"
 process_monitor move_action_server  "3"
 process_monitor speed_control_service "4"

sleep 0.1
done 
sleep 0.1
exit 0

run_total.sh

#!/bin/sh
source /opt/ros/kinetic/setup.bash
source ~/catkin_robot/devel/setup.bash
echo $1
 if [ $1 -eq 1 ];then
roslaunch rosbridge_server rosbridge_websocket.launch
elif [ $1 -eq 2 ];then
 roslaunch slamware_ros_sdk slamware_ros_sdk_server_node.launch
elif [ $1 -eq 3 ];then
 roslaunch slamware_ros_sdk move_action_server.launch
elif [ $1 -eq 4 ];then
 roslaunch slamware_ros_sdk speed_control_service.launch
else
 echo "no launch file found..."
fi

exit 0

由于时间关系，不再赘述。希望大家多评论。