Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration
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arXiv
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| Autores principales: | , , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866917712220913664 |
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| author | Chovet, Loïck Pierre Garcia, Gabriel Manuel Bera, Abhishek Richard, Antoine Yoshida, Kazuya Olivares-Mendez, Miguel Angel |
| author_facet | Chovet, Loïck Pierre Garcia, Gabriel Manuel Bera, Abhishek Richard, Antoine Yoshida, Kazuya Olivares-Mendez, Miguel Angel |
| contents | Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this progress by fostering cooperation in space exploration, emphasizing the use of cutting-edge technologies. In parallel, the widespread adoption of the Robot Operating System 2 (ROS 2) by companies across various sectors underscores its robustness and versatility. This paper evaluates the performances of available ROS 2 MiddleWare (RMW), such as FastRTPS, CycloneDDS and Zenoh, over a mesh network with a dynamic topology. The final choice of RMW is determined by the one that would fit the most the scenario: an exploration of the extreme extra-terrestrial environment using a MRS. The conducted study in a real environment highlights Zenoh as a potential solution for future applications, showing a reduced delay, reachability, and CPU usage while being competitive on data overhead and RAM usage over a dynamic mesh topology |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_03091 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration Chovet, Loïck Pierre Garcia, Gabriel Manuel Bera, Abhishek Richard, Antoine Yoshida, Kazuya Olivares-Mendez, Miguel Angel Robotics Networking and Internet Architecture Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this progress by fostering cooperation in space exploration, emphasizing the use of cutting-edge technologies. In parallel, the widespread adoption of the Robot Operating System 2 (ROS 2) by companies across various sectors underscores its robustness and versatility. This paper evaluates the performances of available ROS 2 MiddleWare (RMW), such as FastRTPS, CycloneDDS and Zenoh, over a mesh network with a dynamic topology. The final choice of RMW is determined by the one that would fit the most the scenario: an exploration of the extreme extra-terrestrial environment using a MRS. The conducted study in a real environment highlights Zenoh as a potential solution for future applications, showing a reduced delay, reachability, and CPU usage while being competitive on data overhead and RAM usage over a dynamic mesh topology |
| title | Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration |
| topic | Robotics Networking and Internet Architecture |
| url | https://arxiv.org/abs/2407.03091 |