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mROS: A Lightweight Runtime Environment of ROS 1 nodes for Embedded Devices
https://ipsj.ixsq.nii.ac.jp/records/203166
https://ipsj.ixsq.nii.ac.jp/records/20316611981cbb-fcb9-4c2a-8a88-e12b93b96e74
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
IPSJ-JNL6102038.pdf (3.1 MB)
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Copyright (c) 2020 by the Information Processing Society of Japan
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| オープンアクセス | ||
| Item type | Journal(1) | |||||||||||||
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| 公開日 | 2020-02-15 | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | mROS: A Lightweight Runtime Environment of ROS 1 nodes for Embedded Devices | |||||||||||||
| タイトル | ||||||||||||||
| 言語 | en | |||||||||||||
| タイトル | mROS: A Lightweight Runtime Environment of ROS 1 nodes for Embedded Devices | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | [特集：組込みシステム工学] robot operating systems, real-time operating systems, distributed systems, TCP/IP protocol | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||
| 資源タイプ | journal article | |||||||||||||
| 著者所属 | ||||||||||||||
| Graduate School of Informatics, Kyoto University／PRESTO Program, Japan Science and Technology Agency | ||||||||||||||
| 著者所属 | ||||||||||||||
| Graduate School of Informatics, Kyoto University | ||||||||||||||
| 著者所属 | ||||||||||||||
| Graduate School of Informatics, Kyoto University／Presently with Graduate School of Engineering, Mie University | ||||||||||||||
| 著者所属 | ||||||||||||||
| Graduate School of Informatics, Kyoto University | ||||||||||||||
| 著者所属(英) | ||||||||||||||
| en | ||||||||||||||
| Graduate School of Informatics, Kyoto University / PRESTO Program, Japan Science and Technology Agency | ||||||||||||||
| 著者所属(英) | ||||||||||||||
| en | ||||||||||||||
| Graduate School of Informatics, Kyoto University | ||||||||||||||
| 著者所属(英) | ||||||||||||||
| en | ||||||||||||||
| Graduate School of Informatics, Kyoto University / Presently with Graduate School of Engineering, Mie University | ||||||||||||||
| 著者所属(英) | ||||||||||||||
| en | ||||||||||||||
| Graduate School of Informatics, Kyoto University | ||||||||||||||
| 著者名 |
Hideki, Takase
× Hideki, Takase
× Tomoya, Mori
× Kazuyoshi, Takagi
× Naofumi, Takagi
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| 著者名(英) |
Hideki, Takase
× Hideki, Takase
× Tomoya, Mori
× Kazuyoshi, Takagi
× Naofumi, Takagi
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| 論文抄録 | ||||||||||||||
| 内容記述タイプ | Other | |||||||||||||
| 内容記述 | The Robot Operating System (ROS) has attracted attention as a design platform for robot software development. One of the problems of ROS is that it is necessary to employ high-performance and power-hunger devices since ROS requires a Linux environment for operation. This paper proposes a novel solution called mROS, which is a lightweight runtime environment of ROS nodes, to execute robot software components on mid-range embedded devices. mROS consists of a real-time operating system (RTOS) and a TCP/IP protocol stack to provide a tiny ROS communication library. It provides connectivity from the edge node to the host and other nodes through the native ROS protocol. Additionally, we design mROS APIs that are compatible with ROS 1. Therefore, native ROS nodes can be ported from Linux-based systems to RTOS-based systems as mROS nodes. Experimental results confirmed that mROS meets the performance requirement for practical applications. Moreover, we showed the size of the library constituting mROS is small for target embedded devices. We further conducted a case study to validate the portability of mROS from ROS nodes. Our work is expected to contribute to the power saving and real-time performance enhancement of mobile robot systems. ------------------------------ This is a preprint of an article intended for publication Journal of Information Processing(JIP). This preprint should not be cited. This article should be cited as: Journal of Information Processing Vol.28(2018) (online) DOI http://dx.doi.org/10.2197/ipsjjip.28.150 ------------------------------ |
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| 論文抄録(英) | ||||||||||||||
| 内容記述タイプ | Other | |||||||||||||
| 内容記述 | The Robot Operating System (ROS) has attracted attention as a design platform for robot software development. One of the problems of ROS is that it is necessary to employ high-performance and power-hunger devices since ROS requires a Linux environment for operation. This paper proposes a novel solution called mROS, which is a lightweight runtime environment of ROS nodes, to execute robot software components on mid-range embedded devices. mROS consists of a real-time operating system (RTOS) and a TCP/IP protocol stack to provide a tiny ROS communication library. It provides connectivity from the edge node to the host and other nodes through the native ROS protocol. Additionally, we design mROS APIs that are compatible with ROS 1. Therefore, native ROS nodes can be ported from Linux-based systems to RTOS-based systems as mROS nodes. Experimental results confirmed that mROS meets the performance requirement for practical applications. Moreover, we showed the size of the library constituting mROS is small for target embedded devices. We further conducted a case study to validate the portability of mROS from ROS nodes. Our work is expected to contribute to the power saving and real-time performance enhancement of mobile robot systems. ------------------------------ This is a preprint of an article intended for publication Journal of Information Processing(JIP). This preprint should not be cited. This article should be cited as: Journal of Information Processing Vol.28(2018) (online) DOI http://dx.doi.org/10.2197/ipsjjip.28.150 ------------------------------ |
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| 書誌レコードID | ||||||||||||||
| 収録物識別子タイプ | NCID | |||||||||||||
| 収録物識別子 | AN00116647 | |||||||||||||
| 書誌情報 |
情報処理学会論文誌 巻 61, 号 2, 発行日 2020-02-15 |
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| ISSN | ||||||||||||||
| 収録物識別子タイプ | ISSN | |||||||||||||
| 収録物識別子 | 1882-7764 | |||||||||||||
