TY - GEN
T1 - ROS-SF
T2 - 23rd ACM/IFIP International Middleware Conference, Middleware 2022
AU - Wang, Yu Ping
AU - Dong, Yuejiang
AU - Tan, Gang
N1 - Funding Information:
Writing serialization routines manually is error-prone. Therefore, most serialization frameworks support to automatically generate serialization routines by IDL. Furthermore, serialization is supported by many programming languages, such as Java (Java Object Serialization) [23] and Python (Pickle) [24]. But their serialization formats share the same principles above.
Publisher Copyright:
© 2022 Owner/Author.
PY - 2022/11/7
Y1 - 2022/11/7
N2 - In recent years, ROS becomes the dominant middleware for robotic systems. The performance of its message-passing paradigm is crucial to the robot's reaction time. However, previous works only focus on efficiency, but ignore the requirement for transparency. We present ROS-SF framework, which can transparently eliminate serialization and de-serialization under the ROS APIs. The key contributions are a new serialization format called SFM and a life-cycle management method for serialization-free messages. Evaluation results show that our ROS-SF framework can improve the message-passing performance of ROS by up to 76.3\%. Application case study and applicability study show that our ROS-SF framework can be transparently applied to many existing ROS-based systems and packages. Even in the failure cases, our ROS-SF framework can provide modification guidance.
AB - In recent years, ROS becomes the dominant middleware for robotic systems. The performance of its message-passing paradigm is crucial to the robot's reaction time. However, previous works only focus on efficiency, but ignore the requirement for transparency. We present ROS-SF framework, which can transparently eliminate serialization and de-serialization under the ROS APIs. The key contributions are a new serialization format called SFM and a life-cycle management method for serialization-free messages. Evaluation results show that our ROS-SF framework can improve the message-passing performance of ROS by up to 76.3\%. Application case study and applicability study show that our ROS-SF framework can be transparently applied to many existing ROS-based systems and packages. Even in the failure cases, our ROS-SF framework can provide modification guidance.
UR - http://www.scopus.com/inward/record.url?scp=85132266192&partnerID=8YFLogxK
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U2 - 10.1145/3528535.3531518
DO - 10.1145/3528535.3531518
M3 - Conference contribution
AN - SCOPUS:85132266192
T3 - Middleware 2022 - Proceedings of the 23rd ACM/IFIP International Middleware Conference
SP - 82
EP - 93
BT - Middleware 2022 - Proceedings of the 23rd ACM/IFIP International Middleware Conference
PB - Association for Computing Machinery, Inc
Y2 - 7 November 2022 through 11 November 2022
ER -