Towards a distributed and real-time framework for robots: Evaluation of ROS 2.0 communications for real-time robotic applications

Towards a distributed and real-time framework for robots: Evaluation of ROS 2.0 communications for real-time robotic applications

In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of Linux. We benchmark and study the worst case latencies and mis...

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Bibliographic Details
Main Authors: Gutiérrez, Carlos San Vicente, Juan, Lander Usategui San, Ugarte, Irati Zamalloa, Vilches, Víctor Mayoral
Format: Journal Article
Language:English
Published: 07-09-2018
Subjects:
Computer Science - Robotics
Online Access:Get full text
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Summary:In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of Linux. We benchmark and study the worst case latencies and missed deadlines to characterize ROS 2.0 communications for real-time applications. We demonstrate experimentally how computation and network congestion impacts the communication latencies and ultimately, propose a setup that, under certain conditions, mitigates these delays and obtains bounded traffic.
DOI:10.48550/arxiv.1809.02595