@techreport{oai:ipsj.ixsq.nii.ac.jp:00190319, author = {小澤, 慶祐 and 本田, 晋也 and 松原, 豊 and 高田, 広章 and 加藤, 寿和 and 山本, 整 and Keisuke, Kozawa and Shinya, Honda and Yutaka, Matsubara and Hiroaki, Takada and Toshikazu, Kato and Hitoshi, Yamamoto}, issue = {2}, month = {Jun}, note = {近年,サービスロボットや自動運転のような自律制御システムの研究開発により,組込みシステムのアーキテクチャが著しく変化している.本研究では,ROS2 と軽量 DDS による通信が混在する自律制御システムを想定し,そのシステムの満たすべき要件を設定した.そして,ROS2 と軽量 DDS がそれらの要件を満たすか評価するための項目を設定し,適用性を評価した.評価実験では,主に自律制御システムの要求するリアルタイム性を満足できるか評価するために,ROS2 および軽量 DDS の通信時間を計測した.評価実験を行った結果,ROS2 は通信時間が大きく,特に通信以外の処理のオーバヘッドが大きいことがわかった.また,通信時間のばらつきも大きいことがわかり,自律制御システムに適用するには課題が残っていると考えられる.一方,軽量 DDS は ROS2 に比べて,通信時間が小さく,通信時間のばらつきも小さいという結果が得られ,組込みシステムへの適用が現実的だと考えられる., In recent years, the architecture of an embedded system has developed dramatically due to research and development of autonomous control system such as service robot and automated driving. In this research, we assumed an autonomous control system with mixed ROS2 and lightweight DDS communication, and set up requirements to be satisfied by the system. We set items for evaluating whether ROS2 and lightweight DDS satisfy these requirements, and evaluated its applicability. In the evaluation experiment, the communication time of ROS 2 and lightweight DDS was measured mainly to evaluate whether real time property required by autonomous control system can be satisfied. As a result of the evaluation experiment, it was found that the communication time of ROS2 is large, especially the overhead of processing other than communication is large. Moreover, it is found that the dispersion of the communication time is large, and it seems that the problem remains to be applied to the autonomous control system. On the other hand, lightweight DDS has smaller communication time and less communication time variation than ROS2, and applying to embedded systems is considered to be realistic.}, title = {ROS2と軽量DDSの組込みシステムに対する適用性評価}, year = {2018} }