WiP Abstract: Preliminary Evaluation of ROS2

2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS) Pub Date : 2016-04-11 DOI:10.1109/ICCPS.2016.7479129

Yuya Maruyama, S. Kato, Takuya Azumi

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Abstract

Cyber-Physical Systems (CPS) represent next generation distributed and embedded systems. Robot Operating System (ROS), an open-source middleware for robotics development, has been widely used for CPS applications. However, ROS is not suitable for real-time and embedded systems, because ROS does not support to meet real-time requirements, and runs only on a few kinds of OSs. Facing this problem, ROS is going to be significantly upgraded as ROS2 with utilizing Data Distribution Service (DDS). DDS is suitable for CPS due to its various transport configurations (e.g. reliability and durability). ROS2 needs to convert data for DDS and abstracting DDS from ROS2 users, which causes the overhead examined in this research. Transport latency between ROS2 nodes varies by transport situations, data size, and DDS vendors. We clarify the performance characteristics of currently-available data transport on ROS or ROS2 in various situations. Revealing the present capability of ROS2 depending on DDS vendors and DDS configurations, we explore and evaluate the facing constraints and potential of ROS2.

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摘要:ROS2的初步评价

信息物理系统(CPS)代表了下一代分布式和嵌入式系统。机器人操作系统(ROS)是一种面向机器人开发的开源中间件，已广泛应用于CPS应用中。但是，ROS并不适合于实时系统和嵌入式系统，因为ROS不支持满足实时需求，并且只能在少数几种操作系统上运行。面对这一问题，ROS将利用数据分发服务(DDS)大幅升级为ROS2。DDS由于其各种传输配置(例如可靠性和耐用性)而适用于CPS。ROS2需要为DDS转换数据并从ROS2用户中抽象DDS，这导致了本研究中检查的开销。ROS2节点之间的传输延迟因传输情况、数据大小和DDS供应商而异。我们阐明了在各种情况下ROS或ROS2上当前可用数据传输的性能特征。揭示ROS2目前的能力取决于DDS供应商和DDS配置，我们探索和评估ROS2面临的限制和潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS)

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