TY - JOUR
T1 - Real-Time Characteristics of ROS 2.0 in Multiagent Robot Systems
T2 - An Empirical Study
AU - Park, Jaeho
AU - Delgado, Raimarius
AU - Choi, Byoung Wook
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2020
Y1 - 2020
N2 - Due to its ease of use and flexibility, the robot operating system (ROS) is increasingly becoming the most popular middleware for robot applications, even in multiagent systems. Since ROS 1.0 does not satisfy real-time requirements, ROS 2.0 was developed, and it improved the communication stack with the real-time data distribution service (DDS) protocol. However, the actual performance level to be expected is still unknown and can largely depend on the operating system and the kernel being used, the DDS distribution, and the overall software load of the system. In this article, we present an empirical study that evaluates the real-time performance of ROS 2.0 in both the system and communication software layers. In the system layer, the deterministic behavior of the ROS 2.0 nodes is thoroughly observed with regard to whether the tasks are schedulable and can function within the specified temporal deadline. In the communication layer, special attention is devoted to the rate of data loss and the overall latency of messages between nodes. Experiments are performed in various working conditions; for example, the system load is increased to define the real-time performance of the tasks. For reference, the results are compared with the those from the traditional ROS variation. Moreover, we implement a multiagent service robot system to verify the suitability of ROS 2.0 for real-world applications. Our results show that the application of ROS 2.0 is more suitable than that of ROS 1.0 in terms of real-time performance.
AB - Due to its ease of use and flexibility, the robot operating system (ROS) is increasingly becoming the most popular middleware for robot applications, even in multiagent systems. Since ROS 1.0 does not satisfy real-time requirements, ROS 2.0 was developed, and it improved the communication stack with the real-time data distribution service (DDS) protocol. However, the actual performance level to be expected is still unknown and can largely depend on the operating system and the kernel being used, the DDS distribution, and the overall software load of the system. In this article, we present an empirical study that evaluates the real-time performance of ROS 2.0 in both the system and communication software layers. In the system layer, the deterministic behavior of the ROS 2.0 nodes is thoroughly observed with regard to whether the tasks are schedulable and can function within the specified temporal deadline. In the communication layer, special attention is devoted to the rate of data loss and the overall latency of messages between nodes. Experiments are performed in various working conditions; for example, the system load is increased to define the real-time performance of the tasks. For reference, the results are compared with the those from the traditional ROS variation. Moreover, we implement a multiagent service robot system to verify the suitability of ROS 2.0 for real-world applications. Our results show that the application of ROS 2.0 is more suitable than that of ROS 1.0 in terms of real-time performance.
KW - Multi-agent system
KW - performance evaluation
KW - real-time operating systems
KW - robot operating system
UR - https://www.scopus.com/pages/publications/85090940946
U2 - 10.1109/ACCESS.2020.3018122
DO - 10.1109/ACCESS.2020.3018122
M3 - Article
AN - SCOPUS:85090940946
SN - 2169-3536
VL - 8
SP - 154637
EP - 154651
JO - IEEE Access
JF - IEEE Access
M1 - 9172073
ER -