Cited By
View all- Nozawa MImamura SKono K(2023)Accelerating Multilingual Applications with In-memory Array Sharing2023 IEEE International Conference on Big Data (BigData)10.1109/BigData59044.2023.10386462(255-262)Online publication date: 15-Dec-2023
ROS-SF: A Transparent and Efficient ROS Middleware using Serialization-Free Message
Pages 82 - 93
Abstract
In recent years, ROS becomes the dominant middleware for robotic systems. The performance of its message-passing paradigm is crucial to the robot's reaction time. However, previous works only focus on efficiency, but ignore the requirement for transparency. We present ROS-SF framework, which can transparently eliminate serialization and de-serialization under the ROS APIs. The key contributions are a new serialization format called SFM and a life-cycle management method for serialization-free messages. Evaluation results show that our ROS-SF framework can improve the message-passing performance of ROS by up to 76.3\%. Application case study and applicability study show that our ROS-SF framework can be transparently applied to many existing ROS-based systems and packages. Even in the failure cases, our ROS-SF framework can provide modification guidance.
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Index Terms
- ROS-SF: A Transparent and Efficient ROS Middleware using Serialization-Free Message
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Published In
November 2022
110 pages
ISBN:9781450393409
DOI:10.1145/3528535
- General Chairs:
- Paolo Bellavista,
- Kaiwen Zhang,
- Abdelouahed Gherbi,
- Program Chairs:
- Saurabh Bagchi,
- Marta Patiño,
- Publications Chairs:
- Giuseppe Di Modica,
- Julien Gascon-Samson
Copyright © 2022 Owner/Author.
This work is licensed under a Creative Commons Attribution International 4.0 License.
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Published: 24 October 2022
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View all- Nozawa MImamura SKono K(2023)Accelerating Multilingual Applications with In-memory Array Sharing2023 IEEE International Conference on Big Data (BigData)10.1109/BigData59044.2023.10386462(255-262)Online publication date: 15-Dec-2023
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