Making ROS TF Transactional

Yushi Ogiwara; Ayanori Yorozu; Akihisa Ohya; Hideyuki Kawashima

doi:10.1109/ICCPS54341.2022.00050

Making ROS TF Transactional

Yushi Ogiwara, Ayanori Yorozu, Akihisa Ohya, Hideyuki Kawashima

Faculty of Environment and Information Studies

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

TF library is a frequently used package in ROS, which manages transformations between coordinate systems as a directed tree structure, and enables registrations and calculation of coordinate transformation information. TF tree access is not scalable due to a giant lock and does not provide the latest data. The proposed method solves these problems by applying the fine-grained locking method and the two phase locing. We show that the proposed method achieves up to 143 times faster throughput, up to 208 times shorter latency, and up to 132 times data freshness than the existing methods.

Original language	English
Title of host publication	Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	318-319
Number of pages	2
ISBN (Electronic)	9781665409674
DOIs	https://doi.org/10.1109/ICCPS54341.2022.00050
Publication status	Published - 2022
Event	13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022 - Virtual, Online, Italy Duration: 2022 May 4 → 2022 May 6

Publication series

Name	Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022

Conference

Conference	13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022
Country/Territory	Italy
City	Virtual, Online
Period	22/5/4 → 22/5/6

ASJC Scopus subject areas

Hardware and Architecture
Control and Optimization
Artificial Intelligence
Computer Networks and Communications
Computer Science Applications

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10.1109/ICCPS54341.2022.00050

Cite this

Ogiwara, Y., Yorozu, A., Ohya, A., & Kawashima, H. (2022). Making ROS TF Transactional. In Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022 (pp. 318-319). (Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCPS54341.2022.00050

Making ROS TF Transactional. / Ogiwara, Yushi; Yorozu, Ayanori; Ohya, Akihisa et al.
Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 318-319 (Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ogiwara, Y, Yorozu, A, Ohya, A & Kawashima, H 2022, Making ROS TF Transactional. in Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022. Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022, Institute of Electrical and Electronics Engineers Inc., pp. 318-319, 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022, Virtual, Online, Italy, 22/5/4. https://doi.org/10.1109/ICCPS54341.2022.00050

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author = "Yushi Ogiwara and Ayanori Yorozu and Akihisa Ohya and Hideyuki Kawashima",

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AU - Ohya, Akihisa

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Y1 - 2022

N2 - TF library is a frequently used package in ROS, which manages transformations between coordinate systems as a directed tree structure, and enables registrations and calculation of coordinate transformation information. TF tree access is not scalable due to a giant lock and does not provide the latest data. The proposed method solves these problems by applying the fine-grained locking method and the two phase locing. We show that the proposed method achieves up to 143 times faster throughput, up to 208 times shorter latency, and up to 132 times data freshness than the existing methods.

AB - TF library is a frequently used package in ROS, which manages transformations between coordinate systems as a directed tree structure, and enables registrations and calculation of coordinate transformation information. TF tree access is not scalable due to a giant lock and does not provide the latest data. The proposed method solves these problems by applying the fine-grained locking method and the two phase locing. We show that the proposed method achieves up to 143 times faster throughput, up to 208 times shorter latency, and up to 132 times data freshness than the existing methods.

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Making ROS TF Transactional

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