Collocation optimizations in an aspect-oriented middleware system

Abstract

In distributed object-oriented systems, there are situations where client and server objects are deployed in the same address space. In such scenarios, it is possible to dispatch remote calls without having to transverse the infrastructure provided by the underlying communication middleware system and thus without incurring the overhead of using a networking loopback interface. Such optimizations are called collocation optimizations. In this paper we describe an implementation of collocation that is centered on aspect-oriented programming abstractions. This implementation provides high degrees of modularization, configurability and adaptability than current objectoriented support to collocation. The paper also presents results about the performance gains derived from the optimization proposed.

A middleware for collaborative research in experimental robotics

“…However, it remains unclear how it is able to support more tightly integrate component interactions. To this end, no direct equivalent to the presented in-process transport for collocated optimization [26] is available. The comparable features we could identify, in particular Nodelets and intra-process publishing seem to require changes at the level of the client code which 14 ROS allows a hierarchical syntax in topic identifiers but does not enforce or associate any semantics with it.…”