{"id":216182,"updated":"2025-01-19T15:54:01.108443+00:00","links":{},"created":"2025-01-19T01:16:53.634129+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00216182","sets":["6164:6165:9654:10851"]},"path":["10851"],"owner":"44499","recid":"216182","title":["ThreadedCallback: Improving Real-time Performance of ROS 2"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-01-28"},"_buckets":{"deposit":"4dfa4def-76b8-43bc-8d29-bd430af7fc9c"},"_deposit":{"id":"216182","pid":{"type":"depid","value":"216182","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"ThreadedCallback: Improving Real-time Performance of ROS 2","author_link":["557841","557839","557835","557842","557843","557844","557837","557836","557840","557838"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ThreadedCallback: Improving Real-time Performance of ROS 2"},{"subitem_title":"ThreadedCallback: Improving Real-time Performance of ROS 2","subitem_title_language":"en"}]},"item_type_id":"18","publish_date":"2022-01-28","item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_18_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"Saitama University"},{"subitem_text_value":"Saitama University"},{"subitem_text_value":"Research Institute of Systems Planning, Inc"},{"subitem_text_value":"Research Institute of Systems Planning, Inc"},{"subitem_text_value":"Saitama University"}]},"item_18_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Saitama University","subitem_text_language":"en"},{"subitem_text_value":"Saitama University","subitem_text_language":"en"},{"subitem_text_value":"Research Institute of Systems Planning, Inc","subitem_text_language":"en"},{"subitem_text_value":"Research Institute of Systems Planning, Inc","subitem_text_language":"en"},{"subitem_text_value":"Saitama University","subitem_text_language":"en"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/216182/files/IPSJ-APRIS2021006.pdf","label":"IPSJ-APRIS2021006.pdf"},"date":[{"dateType":"Available","dateValue":"2024-01-28"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-APRIS2021006.pdf","filesize":[{"value":"1.5 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"0","billingrole":"5"},{"tax":["include_tax"],"price":"0","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"42"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"1990acc6-96f2-4f0d-a9d6-6c39f7fb1671","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2022 by the Information Processing Society of Japan"}]},"item_18_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Bo, Peng"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yuqing, Yang"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yoshikazu, Okumura"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Atsushi, Hasegawa"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takuya, Azumi"}],"nameIdentifiers":[{}]}]},"item_18_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Bo, Peng","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yuqing, Yang","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yoshikazu, Okumura","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Atsushi, Hasegawa","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takuya, Azumi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_5794","resourcetype":"conference paper"}]},"item_18_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_type":"Other"}]},"item_18_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_type":"Other"}]},"item_18_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"41","bibliographic_titles":[{"bibliographic_title":"Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform"}],"bibliographicPageStart":"34","bibliographicIssueDates":{"bibliographicIssueDate":"2022-01-28","bibliographicIssueDateType":"Issued"},"bibliographicVolumeNumber":"2021"}]},"relation_version_is_last":true,"weko_creator_id":"44499"}}