| Item type |
Symposium(1) |
| 公開日 |
2022-12-20 |
| タイトル |
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|
タイトル |
Implementation of a Fine-Grained Logging System for ROS2 Applications |
| タイトル |
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|
言語 |
en |
|
タイトル |
Implementation of a Fine-Grained Logging System for ROS2 Applications |
| 言語 |
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|
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 |
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|
|
Tokai University |
| 著者所属 |
|
|
|
Shibaura Institute of Technology |
| 著者所属 |
|
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Tokai University |
| 著者所属 |
|
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Tokai University |
| 著者所属 |
|
|
|
Shibaura Institute of Technology |
| 著者所属(英) |
|
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|
en |
|
|
Tokai University |
| 著者所属(英) |
|
|
|
en |
|
|
Shibaura Institute of Technology |
| 著者所属(英) |
|
|
|
en |
|
|
Tokai University |
| 著者所属(英) |
|
|
|
en |
|
|
Tokai University |
| 著者所属(英) |
|
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|
en |
|
|
Shibaura Institute of Technology |
| 著者名 |
Gai, Nagahashi
Masato, Fukui
Mikiko, Sato
Takeshi, Ohkawa
Midori, Sugaya
|
| 著者名(英) |
Gai, Nagahashi
Masato, Fukui
Mikiko, Sato
Takeshi, Ohkawa
Midori, Sugaya
|
| 論文抄録 |
|
|
内容記述タイプ |
Other |
|
内容記述 |
Currently, ROS is widely used as a framework for robot software development. When using ROS to realize complex cooperative behavior among robots, strict execution time logging such as node execution time and communication time is needed to analyze ROS nodes that communicate asynchronously. Although hCT (high precision Callback Tracer) has been proposed as one of the logging methods to obtain the execution time of ROS nodes, it is not supported in ROS2. This paper presents the porting of hCT performed on the Python platform in ROS2 and the performance measurement method that is planned to be developed in the future. |
| 論文抄録(英) |
|
|
内容記述タイプ |
Other |
|
内容記述 |
Currently, ROS is widely used as a framework for robot software development. When using ROS to realize complex cooperative behavior among robots, strict execution time logging such as node execution time and communication time is needed to analyze ROS nodes that communicate asynchronously. Although hCT (high precision Callback Tracer) has been proposed as one of the logging methods to obtain the execution time of ROS nodes, it is not supported in ROS2. This paper presents the porting of hCT performed on the Python platform in ROS2 and the performance measurement method that is planned to be developed in the future. |
| 書誌情報 |
Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform
巻 2022,
p. 32-33,
発行日 2022-12-20
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| 出版者 |
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|
言語 |
ja |
|
出版者 |
情報処理学会 |
IPSJ-APRIS2022008.pdf (761.3 kB)
