Preliminary Implementation of Measurement Method for ROS1 Callback Execution Time

• Item type: Symposium(1)
• 公開日: 2022-01-28
• タイトル: Preliminary Implementation of Measurement Method for ROS1 Callback Execution Time
• タイトル / 言語: en
• タイトル: Preliminary Implementation of Measurement Method for ROS1 Callback Execution Time
• 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: Shibaura Institute of Technology
• 著者所属: Ales K.K.
• 著者所属: Tokai University
• 著者所属: Shibaura Institute of Technology
• 著者所属(英): en
• 著者所属(英): Shibaura Institute of Technology
• 著者所属(英): en
• 著者所属(英): Ales K.K.
• 著者所属(英): en
• 著者所属(英): Tokai University
• 著者所属(英): en
• 著者所属(英): Shibaura Institute of Technology
• 著者名: Masato, Fukui; Yoichi, Ishiwata; Takeshi, Ohkawa; Midori, Sugaya
• 著者名(英): Masato, Fukui; Yoichi, Ishiwata; Takeshi, Ohkawa; Midori, Sugaya
• 論文抄録 / 内容記述タイプ: Other
• 論文抄録 / 内容記述: Currently, Robot Operating System (ROS) is widely used as a framework for distributed processing in autonomous mobile robot software development. ROS uses a process as a node and communicates between nodes by publishing/subscribing asynchronously. These mechanisms make it easier for users to use an asynchronous system with multiple processes. However, in ROS, it is difficult to measure the function called by the subscriber when it returns from waiting for an event (callback function). Therefore, in this study, we triggered messages on the ROS middleware to identify the part where the node function is executed and measured the execution time. This paper presents our results on running the application and measuring the node processing time.
• 論文抄録(英) / 内容記述タイプ: Other
• 論文抄録(英) / 内容記述: Currently, Robot Operating System (ROS) is widely used as a framework for distributed processing in autonomous mobile robot software development. ROS uses a process as a node and communicates between nodes by publishing/subscribing asynchronously. These mechanisms make it easier for users to use an asynchronous system with multiple processes. However, in ROS, it is difficult to measure the function called by the subscriber when it returns from waiting for an event (callback function). Therefore, in this study, we triggered messages on the ROS middleware to identify the part where the node function is executed and measured the execution time. This paper presents our results on running the application and measuring the node processing time.
• 書誌情報: Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform; 巻 2021, p. 106-107, 発行日 2022-01-28
• 出版者 / 言語: ja
• 出版者: 情報処理学会