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ROS2 real-time Performance optimization and Evaluation

Chinese Journal of Mechanical Engineering 2023年第6期36卷 36-50页

作者： Yanlei Ye Zhenguo Nie Xinjun Liu Fugui Xie Zihao Li Peng Li State Key Laboratory of Tribology in Advanced Equipment Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control Tsinghua UniversityBeijing 100084China

real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.

关键词： ROS real-time system optimization Preempt_RT real-time performance evaluation of ROS2

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