Making ROS TF Transactional

Yushi Ogiwara, Ayanori Yorozu, Akihisa Ohya, Hideyuki Kawashima

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages318-319
Number of pages2
ISBN (Electronic)9781665409674
DOIs
Publication statusPublished - 2022
Event13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022 - Virtual, Online, Italy
Duration: 2022 May 42022 May 6

Publication series

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

Conference

Conference13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022
Country/TerritoryItaly
CityVirtual, Online
Period22/5/422/5/6

ASJC Scopus subject areas

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

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