A Containerized Microservice Architecture for a ROS 2 Autonomous Driving Software: An End-to-End Latency Evaluation
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arXiv
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| Autores principales: | , , , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866911845839798272 |
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| author | Betz, Tobias Wen, Long Pan, Fengjunjie Kaljavesi, Gemb Zuepke, Alexander Bastoni, Andrea Caccamo, Marco Knoll, Alois Betz, Johannes |
| author_facet | Betz, Tobias Wen, Long Pan, Fengjunjie Kaljavesi, Gemb Zuepke, Alexander Bastoni, Andrea Caccamo, Marco Knoll, Alois Betz, Johannes |
| contents | The automotive industry is transitioning from traditional ECU-based systems to software-defined vehicles. A central role of this revolution is played by containers, lightweight virtualization technologies that enable the flexible consolidation of complex software applications on a common hardware platform. Despite their widespread adoption, the impact of containerization on fundamental real-time metrics such as end-to-end latency, communication jitter, as well as memory and CPU utilization has remained virtually unexplored. This paper presents a microservice architecture for a real-world autonomous driving application where containers isolate each service. Our comprehensive evaluation shows the benefits in terms of end-to-end latency of such a solution even over standard bare-Linux deployments. Specifically, in the case of the presented microservice architecture, the mean end-to-end latency can be improved by 5-8 %. Also, the maximum latencies were significantly reduced using container deployment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_12683 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Containerized Microservice Architecture for a ROS 2 Autonomous Driving Software: An End-to-End Latency Evaluation Betz, Tobias Wen, Long Pan, Fengjunjie Kaljavesi, Gemb Zuepke, Alexander Bastoni, Andrea Caccamo, Marco Knoll, Alois Betz, Johannes Robotics The automotive industry is transitioning from traditional ECU-based systems to software-defined vehicles. A central role of this revolution is played by containers, lightweight virtualization technologies that enable the flexible consolidation of complex software applications on a common hardware platform. Despite their widespread adoption, the impact of containerization on fundamental real-time metrics such as end-to-end latency, communication jitter, as well as memory and CPU utilization has remained virtually unexplored. This paper presents a microservice architecture for a real-world autonomous driving application where containers isolate each service. Our comprehensive evaluation shows the benefits in terms of end-to-end latency of such a solution even over standard bare-Linux deployments. Specifically, in the case of the presented microservice architecture, the mean end-to-end latency can be improved by 5-8 %. Also, the maximum latencies were significantly reduced using container deployment. |
| title | A Containerized Microservice Architecture for a ROS 2 Autonomous Driving Software: An End-to-End Latency Evaluation |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.12683 |