高信頼性IoRシステム実現のためのRTミドルウェア用AMQP通信インタフェース

抄録

MQTT is a very simple messaging protocol. This causes messaging systems to get high performance and low power consumption, and therefore MQTT protocol is suitable to construct IoT/IoR systems. However, the messaging performance is not only objective for IoT/IoR systems. In some cases, the quality of messaging service is more important than the messaging performance for some systems including mission critical process. On the other hand, AMQP messaging protocol just fits to construct highly-reliable systems. In this study, we focused on the advantage of AMQP and developed a new communication interface using AMQP on data port communication of OpenRTM-aist. The proposed communication interface enables developers to easily construct highly-reliable robot systems on RT middleware.