ROS2多节点系统的时延分析
Latency Analysis of ROS2 Multi-Node Systems
摘要：
Robot操作系统2（ROS2）面向分布式实时系统，广泛用于机器人领域。特别是在这些系统中，数据处理和通信的延迟可能导致不稳定性。虽然在延迟方面具有高度可配置性，但ROS2通常使用其默认设置。在本文中，我们研究了ROS2的端到端延迟的分布式系统与默认设置和不同的数据分发服务（DDS）中间件。此外，我们分析了ROS2堆栈并指出了延迟瓶颈。我们的研究结果表明，端到端的延迟强烈依赖于所使用的DDS中间件。此外，我们表明，ROS2可以导致50%的延迟开销相比，使用低层次的DDS通信。我们的研究结果意味着设计分布式ROS2架构的指导方针，并表明减少ROS2开销的可能性。
英文摘要：
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.
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