RT-ROS: A real-time ROS architecture on multi-core processors

Wei, Hongxing; Shao, Zhenzhou; Huang, Zhen; Chen, Renhai; Guan, Yong; Tan, Jindong; Shao, Zehui

doi:10.1016/j.future.2015.05.008

Cited by 76 publications

(39 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The common socket is a point-to-point style communication interface. To support collective communication efficiently, multi-path protocols are employed [10][11] [12]. Recently, with the development of ROS2, there have been big changes within the communication layer [13] [14].…”

Section: B Ipc Methods In Robotics Middlewarementioning

confidence: 99%

TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

Wang

Tan

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Inter-process communication (IPC) is one of the core functions of modern robotics middleware. We propose an efficient IPC technique called TZC (Towards Zero-Copy). As a core component of TZC, we design a novel algorithm called partial serialization. Our formulation can generate messages that can be divided into two parts. During message transmission, one part is transmitted through a socket and the other part uses shared memory. The part within shared memory is never copied or serialized during its lifetime. We have integrated TZC with ROS and ROS2 and find that TZC can be easily combined with current open-source platforms. By using TZC, the overhead of IPC remains constant when the message size grows. In particular, when the message size is 4MB (less than the size of a full HD image), TZC can reduce the overhead of ROS IPC from tens of milliseconds to hundreds of microseconds and can reduce the overhead of ROS2 IPC from hundreds of milliseconds to less than 1 millisecond. We also demonstrate the benefits of TZC by integrating it with TurtleBot2 to be used in autonomous driving scenarios. We show that by using TZC, the braking distance can be 16% shorter than with ROS.

show abstract

Section: B Ipc Methods In Robotics Middlewarementioning

confidence: 99%

TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

Wang

Tan

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

show abstract

“…The hybrid real-time ROS architecture on a multi-core processor (RT-ROS) consists of a non-real-time general operating sys- tem (GPOS) and an RTOS [12]. In the RT-ROS, each OS has its own processor, memory, interrupts, and peripheral devices.…”

Section: Related Workmentioning

confidence: 99%

“…In addition, CORBA requires large amounts of resources and so is difficult to use in environments with limited resources such as embedded systems. Previous works [7], [8], [9], [10], [11], [12] have attempted to address these problems; however neither the real-time nor resource problems have been solved, and this work did not focus on softwarereusability.…”

Section: Introductionmentioning

confidence: 99%

Embedded Component-based Framework for Robot Technology Middleware

Hasegawa

Yawata

Ando

et al. 2017

Journal of Information Processing

View full text Add to dashboard Cite

This paper presents a component-based framework for robot technology middleware (RTM) to address real-time issues with RTM. To handle real-time applications, the proposed framework achieves collaboration between RTM and the TOPPERS embedded component system (TECS). TECS is employed to enhance real-time processing in the proposed framework. To implement the collaboration of RTM and TECS, we have adopted remote procedure call. In addition, extending a generator enables the generation of robot technology components from TECS components with source code generated by a model-based development tool such as MATLAB/Simulink. We have evaluated the processor cycle counts of the proposed framework in comparison with those of a conventional method. Moreover, we evaluated the execution time of serial communication and a motor application using the proposed framework. The evaluation results show that the proposed framework is functionally employed in a hard real-time system. Furthermore, we evaluated the amount of code generated by the proposed framework. The evaluation results reveal that the code generated by the proposed framework is reusable and can enhance productivity.

show abstract

“…The code modularity, the solution's portability, together with an eased expandability, lead to robotics systems with a larger number of functionalities, sensors and hardware. Also, new advancements on using ROS in different cores/processors allow for the implementation of real-time ROS architectures [2] that are essential for many robot control applications (e.g. motion control, obstacle avoidance, timely sensor acquisition, etc.).…”

Section: Ros -Robot Operating Systemmentioning

confidence: 99%

“…-Enable predictive maintenance, often called ConditionBased Maintenance (CBM); 2 Some examples are: MiRPA-Middleware for robotic and process control application [4], MRPS -Microsoft Robotics Developer Studio [5] or CARMEN [6]. An excellent survey can be found on [7].…”

Section: Ros -Robot Operating Systemmentioning

confidence: 99%

A Health and Usage Monitoring System for ROS-based service robots

Pinto

Deusdado²,

Marques

et al. 2015

2015 10th International Symposium on Mechatronics and Its Applications (ISMA)

View full text Add to dashboard Cite

This paper presents a multi-core processing solution for ROS-based service robots. The power management together with the control and availability of the processing resources are supervised by a custom-made Power Management Board (PMB) based on a Digital Signal Processor (DSP) micro controller, implementing a Health and Usage Monitoring System (HUMS). The proposed architecture also allows for the PMB to control the most critical robot functions in case of low battery conditions or impossibility of performing energy harvesting, thus extending the lifespan of the robot. All PMB data is recorded on a SD card so as to allow offline analyses of the robotic mission and, thus, support subsequent maintenance activities. Two different implementations of the proposed system have been fielded in two Multi-Robot Systems (MRS) for environmental monitoring, covering aerial, water surface, and wheeled ground vehicles. An additional implementation of the architecture is currently being deployed on an industrial autonomous logistics robot. These three implementations are presented and discussed.

show abstract

RT-ROS: A real-time ROS architecture on multi-core processors

Cited by 76 publications

References 41 publications

TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

Embedded Component-based Framework for Robot Technology Middleware

A Health and Usage Monitoring System for ROS-based service robots

Contact Info

Product

Resources

About