ロボットソフトウェア軽量実行環境mROS 2のPOSIX対応に向けた実装および評価

抄録

We are conducting research and development of mROS 2, that is an agent-less and lightweight runtime environment for ROS 2 node onto embedded devices. In this paper, we make the communication protocol stack of mROS 2 compliant with POSIX (Portable Operating System Interface). Since POSIX is a unified interface standard for operating systems, this work enables mROS 2 to operate easily onto Ubuntu OS, that is the default platform for ROS 2. We implemented the proposed method on Ubuntu 20.04 running on Raspberry Pi 4B. Experimental result showed that our research outcome could improve communication performance than the native ROS 2 environment.