@inproceedings{oai:ipsj.ixsq.nii.ac.jp:00241865,
 author = {Vincent, Conus and Shinya, Honda and Shinkichi, Inagaki and Vincent, Conus and Shinya, Honda and Shinkichi, Inagaki},
 book = {Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform},
 month = {Dec},
 note = {Integration of a variety of systems on a chip has become possible in recent years, making heterogeneous multi-core processors (HMP) available as development targets. In this article, the implementation and deployment of the Robot Operating System (ROS) and micro-ROS on an HMP is presented, as these are very popular choices as middleware in robotics, automotive and beyond. We are focusing here on the improvement over our initial implementation of OpenAMP shared-memory system as a mean of communication. In this new iteration, a User space mappable DMA Buffer is used to transfer data while OpenAMP's RPMsg became a notification system. The early result and measurements for data transfer speed improvement and data throughput compared to communication using the original implementation is discussed., Integration of a variety of systems on a chip has become possible in recent years, making heterogeneous multi-core processors (HMP) available as development targets. In this article, the implementation and deployment of the Robot Operating System (ROS) and micro-ROS on an HMP is presented, as these are very popular choices as middleware in robotics, automotive and beyond. We are focusing here on the improvement over our initial implementation of OpenAMP shared-memory system as a mean of communication. In this new iteration, a User space mappable DMA Buffer is used to transfer data while OpenAMP's RPMsg became a notification system. The early result and measurements for data transfer speed improvement and data throughput compared to communication using the original implementation is discussed.},
 pages = {29--36},
 publisher = {情報処理学会},
 title = {Zero-copy architecture for Micro-ROS deployment on Heterogeneous Multi-core Processor},
 volume = {2024},
 year = {2024}
}