| Item type |
Symposium(1) |
| 公開日 |
2022-01-28 |
| タイトル |
|
|
タイトル |
ThreadedCallback: Improving Real-time Performance of ROS 2 |
| タイトル |
|
|
言語 |
en |
|
タイトル |
ThreadedCallback: Improving Real-time Performance of ROS 2 |
| 言語 |
|
|
言語 |
eng |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_5794 |
|
資源タイプ |
conference paper |
| 著者所属 |
|
|
|
Saitama University |
| 著者所属 |
|
|
|
Saitama University |
| 著者所属 |
|
|
|
Research Institute of Systems Planning, Inc |
| 著者所属 |
|
|
|
Research Institute of Systems Planning, Inc |
| 著者所属 |
|
|
|
Saitama University |
| 著者所属(英) |
|
|
|
en |
|
|
Saitama University |
| 著者所属(英) |
|
|
|
en |
|
|
Saitama University |
| 著者所属(英) |
|
|
|
en |
|
|
Research Institute of Systems Planning, Inc |
| 著者所属(英) |
|
|
|
en |
|
|
Research Institute of Systems Planning, Inc |
| 著者所属(英) |
|
|
|
en |
|
|
Saitama University |
| 著者名 |
Bo, Peng
Yuqing, Yang
Yoshikazu, Okumura
Atsushi, Hasegawa
Takuya, Azumi
|
| 著者名(英) |
Bo, Peng
Yuqing, Yang
Yoshikazu, Okumura
Atsushi, Hasegawa
Takuya, Azumi
|
| 論文抄録 |
|
|
内容記述タイプ |
Other |
|
内容記述 |
Autonomous robot systems have been appearing rapidly to meet the increasing demands. The Robot Operating System (ROS) has been used widely in connection with such systems. ROS has been upgraded to ROS 2 using the Data Distribution Service (DDS) to accommodate high communication latency. ROS 2 contains an Executor module to support execution management in real-time performance. However, improving real-time performance is difficult in ROS 2. This paper proposes ThreadedCallback which enables to run callback as a thread with a specific central processing unit (CPU) core and scheduling policy. We use a ping-pong test to examine and evaluate the performance of the proposed approach. Experimental results show that our approach can achieve significant performance improvement over the standard Executor in ROS 2. |
| 論文抄録(英) |
|
|
内容記述タイプ |
Other |
|
内容記述 |
Autonomous robot systems have been appearing rapidly to meet the increasing demands. The Robot Operating System (ROS) has been used widely in connection with such systems. ROS has been upgraded to ROS 2 using the Data Distribution Service (DDS) to accommodate high communication latency. ROS 2 contains an Executor module to support execution management in real-time performance. However, improving real-time performance is difficult in ROS 2. This paper proposes ThreadedCallback which enables to run callback as a thread with a specific central processing unit (CPU) core and scheduling policy. We use a ping-pong test to examine and evaluate the performance of the proposed approach. Experimental results show that our approach can achieve significant performance improvement over the standard Executor in ROS 2. |
| 書誌情報 |
Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform
巻 2021,
p. 34-41,
発行日 2022-01-28
|
| 出版者 |
|
|
言語 |
ja |
|
出版者 |
情報処理学会 |
IPSJ-APRIS2021006.pdf (1.5 MB)
