TY - GEN
T1 - Making ROS TF Transactional
AU - Ogiwara, Yushi
AU - Yorozu, Ayanori
AU - Ohya, Akihisa
AU - Kawashima, Hideyuki
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
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.
UR - http://www.scopus.com/inward/record.url?scp=85134237246&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85134237246&partnerID=8YFLogxK
U2 - 10.1109/ICCPS54341.2022.00050
DO - 10.1109/ICCPS54341.2022.00050
M3 - Conference contribution
AN - SCOPUS:85134237246
T3 - Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022
SP - 318
EP - 319
BT - Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022
Y2 - 4 May 2022 through 6 May 2022
ER -