HyperGraph ROS: An Open-Source Robot Operating System for Hybrid Parallel Computing based on Computational HyperGraph
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arXiv
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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866916645813878784 |
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| author | Zhang, Shufang Wu, Jiazheng He, Jiacheng Wang, Kaiyi An, Shan |
| author_facet | Zhang, Shufang Wu, Jiazheng He, Jiacheng Wang, Kaiyi An, Shan |
| contents | This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order to optimize communication, HyperGraph ROS dynamically selects the optimal communication mechanism while maintaining a consistent API. For intra-process messages, Intel-TBB Flow Graph is used with C++ pointer passing, which ensures zero memory copying and instant delivery. Meanwhile, inter-process and cross-device communication seamlessly switch to ZeroMQ. When a node receives a message from any source, it is immediately activated and scheduled for parallel execution by Intel-TBB. The computational hypergraph consists of nodes represented by TBB flow graph nodes and edges formed by TBB pointer-based connections for intra-process communication, as well as ZeroMQ links for inter-process and cross-device communication. This structure enables seamless distributed parallelism. Additionally, HyperGraph ROS provides ROS-like utilities such as a parameter server, a coordinate transformation tree, and visualization tools. Evaluation in diverse robotic scenarios demonstrates significantly higher transmission and throughput efficiency compared to ROS 2. Our work is available at https://github.com/wujiazheng2020a/hyper_graph_ros. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_05117 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | HyperGraph ROS: An Open-Source Robot Operating System for Hybrid Parallel Computing based on Computational HyperGraph Zhang, Shufang Wu, Jiazheng He, Jiacheng Wang, Kaiyi An, Shan Robotics Operating Systems This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order to optimize communication, HyperGraph ROS dynamically selects the optimal communication mechanism while maintaining a consistent API. For intra-process messages, Intel-TBB Flow Graph is used with C++ pointer passing, which ensures zero memory copying and instant delivery. Meanwhile, inter-process and cross-device communication seamlessly switch to ZeroMQ. When a node receives a message from any source, it is immediately activated and scheduled for parallel execution by Intel-TBB. The computational hypergraph consists of nodes represented by TBB flow graph nodes and edges formed by TBB pointer-based connections for intra-process communication, as well as ZeroMQ links for inter-process and cross-device communication. This structure enables seamless distributed parallelism. Additionally, HyperGraph ROS provides ROS-like utilities such as a parameter server, a coordinate transformation tree, and visualization tools. Evaluation in diverse robotic scenarios demonstrates significantly higher transmission and throughput efficiency compared to ROS 2. Our work is available at https://github.com/wujiazheng2020a/hyper_graph_ros. |
| title | HyperGraph ROS: An Open-Source Robot Operating System for Hybrid Parallel Computing based on Computational HyperGraph |
| topic | Robotics Operating Systems |
| url | https://arxiv.org/abs/2503.05117 |