{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00217258","sets":["1164:2822:10894:10895"]},"path":["10895"],"owner":"44499","recid":"217258","title":["ROS 2ノード軽量実行環境mROS 2における任意型メッセージの通信処理方式"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-03-03"},"_buckets":{"deposit":"7c36bbc1-80d3-45e9-b504-304170468d47"},"_deposit":{"id":"217258","pid":{"type":"depid","value":"217258","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"ROS 2ノード軽量実行環境mROS 2における任意型メッセージの通信処理方式","author_link":["562593","562592","562594"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ROS 2ノード軽量実行環境mROS 2における任意型メッセージの通信処理方式"}]},"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"},{"subitem_text_value":"東京大学"},{"subitem_text_value":"東京大学／JSTさきがけ"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"The University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"The University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"The University of Tokyo / JST PRESTO","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/217258/files/IPSJ-EMB22059038.pdf","label":"IPSJ-EMB22059038.pdf"},"date":[{"dateType":"Available","dateValue":"2024-03-03"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-EMB22059038.pdf","filesize":[{"value":"2.5 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":"42"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"a6704bd4-1214-431f-b09e-352d3aa1c835","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":"檜原, 陽一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中村, 宏"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"高瀬, 英希"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA12149313","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":"2188-868X","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年，ロボットシステムの社会的な需要の高まりを受け ROS の活用事例が増加しており，その次世代版となる ROS 2 にも注目が集まっている．しかし，ROS 2 は基本的に汎用 OS が搭載された実行環境を必要とするため，応答性やリアルタイム性およびリソース使用量に関して課題があった．これを解決すべく，ROS 2 を用いるシステムに組込み技術を導入することに注目が集まっている．我々は，仲介の仕組み無しに ROS 2 ノードと等価な出版購読型の通信を実現できる組込み向けの軽量実行環境である mROS 2 の研究開発を進めている．これまでのmROS 2 は，基本型による通信のみに対応しており，さらにライブラリ内部のコードを型ごとに修正する必要があるため，本環境の利用時の開発コストが大きくなっていた．また，基本型以外の型は文字列型に変換して通信する必要があり，非効率な通信を強いられる．そこで本研究では，mROS 2 における任意のメッセージ型による通信の実現手法を提案する．提案手法では，通信時の処理をメッセージ型に関して共通の処理及び固有の処理に分離し，固有処理を行うファイルをメッセージ型ごとに生成する．通信フローに生成された情報を組み込んだ上で，任意のメッセージ型による出版購読の通信時を効率化する通信処理方式を提案する．提案手法を STM32 NUCLEO-F767ZI ボード上に実装し，通信性能およびプログラムサイズにおいて既存手法に対する有効性を確認した．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告組込みシステム（EMB）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-03-03","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"38","bibliographicVolumeNumber":"2022-EMB-59"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":217258,"updated":"2025-01-19T15:33:54.075924+00:00","links":{},"created":"2025-01-19T01:17:45.590308+00:00"}