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arXiv · 1809.02595

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

Carlos San Vicente Gutiérrez·Lander Usategui San Juan·Irati Zamalloa Ugarte·Víctor Mayoral Vilches
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Abstract

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.

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Carlos San Vicente Gutiérrez, Lander Usategui San Juan, Irati Zamalloa Ugarte, Víctor Mayoral Vilches. 2018-09-07. Towards a distributed and real-time framework for robots: Evaluation of ROS 2.0 communications for real-time robotic applications. https://arxiv.org/abs/1809.02595

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