mROS: A Lightweight Runtime Environment for Robot Software Components onto Embedded Devices

被引：3

作者：

Takase, Hideki ^{[1
,2
]}

Mori, Tomoya ^{[1
]}

Takagi, Kazuyoshi ^{[1
]}

Takagi, Naofumi ^{[1
]}

机构：

[1] Kyoto Univ, Grad Sch Informat, Sakyo Ku, Kyoto, Japan

[2] Japan Sci & Technol Agcy, PRESTO Program, Kawaguchi, Saitama, Japan

来源：

PROCEEDINGS OF THE 10TH INTERNATIONAL SYMPOSIUM ON HIGHLY EFFICIENT ACCELERATORS AND RECONFIGURABLE TECHNOLOGIES (HEART) | 2019年

关键词：

Robot operating systems; real-time operating systems; embedded systems; TCP/IP protocol;

D O I：

10.1145/3337801.3337815

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

The Robot Operating System (ROS) has attracted attention as a design platform for robot software development. One of the problems of ROS is that it is necessary to adopt high-performance and power-hunger devices as ROS requires a Linux environment for operation. This paper proposes a novel solution called mROS, which is a lightweight runtime environment of ROS nodes, to execute robot software components on mid-range embedded devices. mROS consists of a real-time OS and TCP/IP protocol stack to provide a tiny ROS communication library. It provides connectivity from the edge node to the host and other nodes through the native ROS protocol. Experimental results confirmed that mROS meets the performance requirement for practical applications. We further conducted a case study to validate the portability of mROS from ROS nodes. Our work would contribute to the power minimization and real-time performance enhancement of mobile robot systems.

引用

页数：6

共 4 条

[1] Work-in-Progress: Design Concept of a Lightweight Runtime Environment for Robot Software Components onto Embedded Devices
Takase, Hideki
Mori, Tomoya
Takagi, Kazuyoshi
Takagi, Naofumi
2018 PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON EMBEDDED SOFTWARE (EMSOFT), 2018,
[2] Runtime Integrity Checking for Exploit Mitigation on Lightweight Embedded Devices
Neugschwandtner, Matthias
Mulliner, Collin
Robertson, William
Kirda, Engin
TRUST AND TRUSTWORTHY COMPUTING, (TRUST 2106), 2016, 9824 : 60 - 81
[3] Partition scheduling in APEX runtime environment for embedded avionics software
Lee, YH
Kim, D
Younis, M
Zhou, J
FIFTH INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING SYSTEMS AND APPLICATIONS, PROCEEDINGS, 1998, : 103 - 109
[4] A Lightweight Software-based Runtime Temperature Monitoring Model for Multiprocessor Embedded Systems
Castilhos, Guilherme
Moraes, Fernando Gehm
Ost, Luciano
2016 29TH SYMPOSIUM ON INTEGRATED CIRCUITS AND SYSTEMS DESIGN (SBCCI), 2016,

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