著者

高瀬 英希 田中 晴亮 細合 晋太郎

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.41, no.8, pp.724-727, 2023 (Released:2023-10-25)

参考文献数

13

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We are conducting research and development of mROS 2, that is an agent-less and lightweight runtime environment for ROS 2 node onto embedded devices. In this paper, we make the communication protocol stack of mROS 2 compliant with POSIX (Portable Operating System Interface). Since POSIX is a unified interface standard for operating systems, this work enables mROS 2 to operate easily onto Ubuntu OS, that is the default platform for ROS 2. We implemented the proposed method on Ubuntu 20.04 running on Raspberry Pi 4B. Experimental result showed that our research outcome could improve communication performance than the native ROS 2 environment.