Meta-ROS: 適応的でスケーラブルなロボットシステムのための次世代ミドルウェアアーキテクチャ
Meta-ROS: A Next-Generation Middleware Architecture for Adaptive and Scalable Robotic Systems
ROS2の複雑さと相互運用性の問題を解決するため、ZenohやZeroMQを活用した新しいミドルウェアMeta-ROSを提案し、ROS2比で最大30%のスループット向上と低遅延を実現した。
著者: Anshul Ranjan, Anoosh Damodar, Neha Chougule, Dhruva S Nayak, Anantharaman P. N, Shylaja S S
分類: cs.RO, cs.MA, cs.OS, cs.SE
原文アブストラクト
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose Meta-ROS, a novel middleware solution designed to streamline robotics development by simplifying integration, enhancing performance, and ensuring cross-platform compatibility. Meta-ROS leverages modern communication protocols, such as Zenoh and ZeroMQ, to enable efficient and low-latency communication across diverse hardware platforms, while also supporting various data types like audio, images, and video. We evaluated Meta-ROS's performance through comprehensive testing, comparing it with existing middleware frameworks like ROS1 and ROS2. The results demonstrated that Meta-ROS outperforms ROS2, achieving up to 30% higher throughput, significantly reducing message latency, and optimizing resource usage. Additionally, its robust hardware support and developer-centric design facilitate seamless integration and ease of use, positioning Meta-ROS as an ideal solution for modern, real-time robotics AI applications.