{"id":217270,"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00217270","sets":["1164:2822:10894:10895"]},"path":["10895"],"owner":"44499","recid":"217270","title":["ElixirによるROS 2クライアントライブラリの任意型メッセージの通信手法"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-03-03"},"_buckets":{"deposit":"dd0dac47-a4d0-49b8-8901-71d38845553d"},"_deposit":{"id":"217270","pid":{"type":"depid","value":"217270","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"ElixirによるROS 2クライアントライブラリの任意型メッセージの通信手法","author_link":["562672","562673","562674","562670","562671"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ElixirによるROS 2クライアントライブラリの任意型メッセージの通信手法"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"分散・並列処理","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":"京都大学"},{"subitem_text_value":"さくらインターネット"},{"subitem_text_value":"東京大学"},{"subitem_text_value":"東京大学"}]},"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":"Kyoto University","subitem_text_language":"en"},{"subitem_text_value":"SAKURA internet","subitem_text_language":"en"},{"subitem_text_value":"The University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"The University of Tokyo","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/217270/files/IPSJ-EMB22059050.pdf","label":"IPSJ-EMB22059050.pdf"},"date":[{"dateType":"Available","dateValue":"2024-03-03"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-EMB22059050.pdf","filesize":[{"value":"1.1 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":"d6ec60a5-a6cc-4d82-ae2e-4d5aaa73d713","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":"佐藤, 弘之"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"武田, 大輝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"菊地, 俊介"}],"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":"近年のロボットアプリケーション需要の高まりの中で，ロボット開発を支援するプラットフォームとして ROS 2 が注目されている．ROS 2 は，ユーザ定義の構造体を含む任意型メッセージの出版購読通信に基づく汎用的な通信機能を提供する．いっぽう，我々が研究開発を進めている Elixir 向け ROS2 クライアントライブラリである Rclex は，対応するメッセージの型が文字列型のみであるという課題があった．そこで本研究では，Rclex での任意型メッセージ通信を実現することで Rclex の適用範囲の拡大することを目指す．Rclex 上で任意型メッセージを扱う API を設計し，ROS ノードとの出版購読通信を実現する手法を提案する．さらに，設計した API を任意のメッセージ型に対して自動生成し，一貫したプログラミングスタイルで扱うことができる手法を示す．提案手法を実装して性能評価を行い，単一のノード間での通信におけ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":"50","bibliographicVolumeNumber":"2022-EMB-59"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"updated":"2025-01-19T15:33:35.743317+00:00","created":"2025-01-19T01:17:46.279021+00:00","links":{}}