research-article

mROS: A Lightweight Runtime Environment for Robot Software Components onto Embedded Devices

Authors:

Hideki Takase,

Tomoya Mori,

Kazuyoshi Takagi,

Naofumi TakagiAuthors Info & Claims

HEART '19: Proceedings of the 10th International Symposium on Highly-Efficient Accelerators and Reconfigurable Technologies

Article No.: 7, Pages 1 - 6

https://doi.org/10.1145/3337801.3337815

Published: 06 June 2019 Publication History

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Abstract

The Robot Operating System (ROS) has attracted attention as a design platform for robot software development. One of the problems of ROS is that it is necessary to adopt high-performance and power-hunger devices as ROS requires a Linux environment for operation. This paper proposes a novel solution called mROS, which is a lightweight runtime environment of ROS nodes, to execute robot software components on mid-range embedded devices. mROS consists of a real-time OS and TCP/IP protocol stack to provide a tiny ROS communication library. It provides connectivity from the edge node to the host and other nodes through the native ROS protocol. Experimental results confirmed that mROS meets the performance requirement for practical applications. We further conducted a case study to validate the portability of mROS from ROS nodes. Our work would contribute to the power minimization and real-time performance enhancement of mobile robot systems.

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Cited By

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Wang ZLiu SJi DYi W(2024)Improving Real-Time Performance of Micro-ROS with Priority-Driven Chain-Aware SchedulingElectronics10.3390/electronics1309165813:9(1658)Online publication date: 25-Apr-2024
https://doi.org/10.3390/electronics13091658
Podlubne AGöhringer D(2023)A Survey on Adaptive Computing in Robotics: Modelling, Methods and ApplicationsIEEE Access10.1109/ACCESS.2023.328119011(53830-53849)Online publication date: 2023
https://doi.org/10.1109/ACCESS.2023.3281190
Belsare KRodriguez ASánchez PHierro JKołcon TLange RLütkebohle IMalki ALosa JMelendez FRodriguez MNordmann AStaschulat Jvon Mendel J(2023)Micro-ROSRobot Operating System (ROS)10.1007/978-3-031-09062-2_2(3-55)Online publication date: 2-Feb-2023
https://doi.org/10.1007/978-3-031-09062-2_2

Index Terms

mROS: A Lightweight Runtime Environment for Robot Software Components onto Embedded Devices
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Embedded systems
      1. Embedded software
    2. Robotics
      1. Robotic components
  2. Real-time systems
    1. Real-time operating systems
2. Networks
  1. Network performance evaluation
    1. Network experimentation

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HEART '19: Proceedings of the 10th International Symposium on Highly-Efficient Accelerators and Reconfigurable Technologies

June 2019

106 pages

ISBN:9781450372558

DOI:10.1145/3337801

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Published: 06 June 2019

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HEART 2019

HEART 2019: The 10th International Symposium on Highly-Efficient Accelerators and Reconfigurable Technologies

June 6 - 7, 2019

Nagasaki, Japan

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HEART '19 Paper Acceptance Rate 12 of 29 submissions, 41%;

Overall Acceptance Rate 22 of 50 submissions, 44%

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Wang ZLiu SJi DYi W(2024)Improving Real-Time Performance of Micro-ROS with Priority-Driven Chain-Aware SchedulingElectronics10.3390/electronics1309165813:9(1658)Online publication date: 25-Apr-2024
https://doi.org/10.3390/electronics13091658
Podlubne AGöhringer D(2023)A Survey on Adaptive Computing in Robotics: Modelling, Methods and ApplicationsIEEE Access10.1109/ACCESS.2023.328119011(53830-53849)Online publication date: 2023
https://doi.org/10.1109/ACCESS.2023.3281190
Belsare KRodriguez ASánchez PHierro JKołcon TLange RLütkebohle IMalki ALosa JMelendez FRodriguez MNordmann AStaschulat Jvon Mendel J(2023)Micro-ROSRobot Operating System (ROS)10.1007/978-3-031-09062-2_2(3-55)Online publication date: 2-Feb-2023
https://doi.org/10.1007/978-3-031-09062-2_2

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Design concept of a lightweight runtime environment for robot software components onto embedded devices: work-in-progress

A hardware time manager implementation for the Xenomai real-time kernel of embedded Linux

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RT-ROS

Design concept of a lightweight runtime environment for robot software components onto embedded devices: work-in-progress

A hardware time manager implementation for the Xenomai real-time kernel of embedded Linux

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