| Item type |
Symposium(1) |
| 公開日 |
2020-02-25 |
| タイトル |
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タイトル |
A Study of Optimizing Inter-node Communication with an IPC-based DDS Implementation in ROS 2 |
| タイトル |
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言語 |
en |
|
タイトル |
A Study of Optimizing Inter-node Communication with an IPC-based DDS Implementation in ROS 2 |
| 言語 |
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言語 |
eng |
| 資源タイプ |
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資源タイプ識別子 |
http://purl.org/coar/resource_type/c_5794 |
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資源タイプ |
conference paper |
| 著者所属 |
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|
Future University Hakodate |
| 著者所属 |
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Future University Hakodate |
| 著者所属 |
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Future University Hakodate |
| 著者所属(英) |
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en |
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Future University Hakodate |
| 著者所属(英) |
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en |
|
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Future University Hakodate |
| 著者所属(英) |
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en |
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Future University Hakodate |
| 著者名 |
Katsuya, Matsubara
Ren, Morita
Sho'ji, Suzuki
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| 著者名(英) |
Katsuya, Matsubara
Ren, Morita
Sho'ji, Suzuki
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| 論文抄録 |
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内容記述タイプ |
Other |
|
内容記述 |
The Robot Operating System 2.0, known as ROS 2, has been being developed from scratch to support new applications. One of the most significant changes in ROS 2 is to follow the DDS standard specification as an interface of inter-module communication. ROS 2 allows specifying only one DDS implementation to be used for the whole system through application code or an environment variable at runtime. Nevertheless, each communication may have different characteristics and each DDS implementation may be optimized for different communication types. So we have proposed a mechanism to allow multiple DDS implementations existing in a system and to dynamically bind one into each communication. Under assuming the dynamic DDS binding, this paper describes a new DDS implementation with 'OpenBinder', which is a low-latency IPC framework and available in recent Linux kernel, especially for the inter-node communication within the same machine. |
| 論文抄録(英) |
|
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内容記述タイプ |
Other |
|
内容記述 |
The Robot Operating System 2.0, known as ROS 2, has been being developed from scratch to support new applications. One of the most significant changes in ROS 2 is to follow the DDS standard specification as an interface of inter-module communication. ROS 2 allows specifying only one DDS implementation to be used for the whole system through application code or an environment variable at runtime. Nevertheless, each communication may have different characteristics and each DDS implementation may be optimized for different communication types. So we have proposed a mechanism to allow multiple DDS implementations existing in a system and to dynamically bind one into each communication. Under assuming the dynamic DDS binding, this paper describes a new DDS implementation with 'OpenBinder', which is a low-latency IPC framework and available in recent Linux kernel, especially for the inter-node communication within the same machine. |
| 書誌情報 |
Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform
巻 2019,
p. 27-28,
発行日 2020-02-25
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| 出版者 |
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言語 |
ja |
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出版者 |
情報処理学会 |
IPSJ-APRIS2019007.pdf (1.6 MB)
