RTミドルウェアにおけるUDP通信データポートの実装と検証

抄録

We propose that a data port using UDP transport for RT-Middleware for the purpose of realtime transport and multicast transport. This paper describes a implementation of a data port using UDP transport. In order to realize data port using UDP transport, OpenRTM-aist has supported TAO. Finally, from our experiments, we show that realtime transport is feasible by data port using UDP transport.