@inproceedings{oai:ipsj.ixsq.nii.ac.jp:00216182,
 author = {Bo, Peng and Yuqing, Yang and Yoshikazu, Okumura and Atsushi, Hasegawa and Takuya, Azumi and Bo, Peng and Yuqing, Yang and Yoshikazu, Okumura and Atsushi, Hasegawa and Takuya, Azumi},
 book = {Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform},
 month = {Jan},
 note = {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., 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.},
 pages = {34--41},
 publisher = {情報処理学会},
 title = {ThreadedCallback: Improving Real-time Performance of ROS 2},
 volume = {2021},
 year = {2022}
}