ROS2マルチノードシステムのレイテンシ分析
Latency Analysis of ROS2 Multi-Node Systems
ROS2の分散システムにおけるエンドツーエンドのレイテンシを、デフォルト設定と異なるDDSミドルウェアで調査し、ボトルネックを特定した研究。
著者: Tobias Kronauer, Joshwa Pohlmann, Maximilian Matthe, Till Smejkal, Gerhard Fettweis
分類: cs.RO, cs.DC, cs.MA, cs.PF, cs.SE
原文アブストラクト
The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly configurable with respect to latency, ROS2 is often used with its default settings. In this paper, we investigate the end-to-end latency of ROS2 for distributed systems with default settings and different Data Distribution Service (DDS) middlewares. In addition, we profile the ROS2 stack and point out latency bottlenecks. Our findings indicate that end-to-end latency strongly depends on the used DDS middleware. Moreover, we show that ROS2 can lead to 50% latency overhead compared to using low-level DDS communications. Our results imply guidelines for designing distributed ROS2 architectures and indicate possibilities for reducing the ROS2 overhead.