{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00217125","sets":["1164:1579:10818:10892"]},"path":["10892"],"owner":"44499","recid":"217125","title":["mROS 2：組込みデバイス向けのROS 2ノード軽量実行環境"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-03-03"},"_buckets":{"deposit":"fa85b3ce-eaa1-4adb-8568-741a61053b62"},"_deposit":{"id":"217125","pid":{"type":"depid","value":"217125","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"mROS 2：組込みデバイス向けのROS 2ノード軽量実行環境","author_link":["561892","561893"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"mROS 2：組込みデバイス向けのROS 2ノード軽量実行環境"},{"subitem_title":"mROS 2: A Lightweight Runtime Environment of ROS 2 nodes for Embedded Devices","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2022-03-03","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京大学／JSTさきがけ"},{"subitem_text_value":"京都大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"The University of Tokyo / JST PRESTO","subitem_text_language":"en"},{"subitem_text_value":"Kyoto University","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"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/217125/files/IPSJ-ARC22248037.pdf","label":"IPSJ-ARC22248037.pdf"},"date":[{"dateType":"Available","dateValue":"2024-03-03"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ARC22248037.pdf","filesize":[{"value":"1.2 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"16"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"9701bffb-d628-4137-b55c-06ecff5dbcfe","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2022 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"高瀬, 英希"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"祐源, 英俊"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10096105","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8574","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"分散型のロボットシステムにおけるエッジデバイスの応答性やリアルタイム性の向上および消費電力の削減などへの期待から，ROS 2 への組込み技術の導入に注目が集まっている．本研究の目的は，組込みデバイス向けの高効率な ROS 2 通信方式およびメモリ軽量な実行環境を確立することである．提案する実行環境である mROS 2 は，主に組込み向けの軽量プロトコルスタックおよびリアルタイム OS から構成される．最大の利点は，ホストデバイス上の ROS 2 ノードとの通信において，既存の環境では必須であった仲介の役割を担う Agent ノードを不要にできることである．本研究では，目的の実現に求められる設計要件を整理し，効率的な通信処理を実現するためのソフトウェア構成および動作フローを設計する．また，mROS 2 通信ライブラリとして提供する API は，汎用 OS 向けの ROS 2 のクライアントライブラリと互換性を保つようにする．提案手法を STM32 NUCLEO-F767ZI ボード上に実装し，本研究成果が通信性能に優れた分散ロボットシステムの実現に貢献することを示す．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告システム・アーキテクチャ（ARC）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-03-03","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"37","bibliographicVolumeNumber":"2022-ARC-248"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":217125,"updated":"2025-01-19T15:36:50.952020+00:00","links":{},"created":"2025-01-19T01:17:37.840989+00:00"}