Análise de desempenho da comunicação entre o ROS 2 e o MicroROS

Abstract

In mobile robotics environment, has been essentially necessary the implementation of distributed systems, compound of any modules, like sensors, computers, embedded systems and IoT devices. Once this demand exists, the second version of Robot Operation System framework, the ROS 2, have communication protocols, libraries and tools for help the implementation of this systems for robotics, given support for real-time applications. However, looking for a wider application of ROS, the MicroROS gives the possibility to embed ROS 2 in a microcontroller and making possible to use the system in low and high levels, connected by an agent. Since this integration exists, the knowledge about the real efficiency and strengths and weaknesses of this communication is little, considering the application in a robotic system. Thus, for evaluate the communication benchmarking, latency, jitter, data loss and determinism characteristics will be analyzed, testing the growth of callbacks processing and rise of data input frequency. Thereby, the results show that the MicroROS susceptible to two situations: (i) the quality of service influence on system response and (ii) for estable operation frequencies, the system shows deterministic and real-time processing. Lastly, in the comparison of SingleThread and MultiThread tests, was prove that MicroROS have a critical point for latencies and topic loss registered.