The robot operating system (ROS) standard has been extended with different communication mechanisms to address real-time and scalability requirements. On the other hand, containerization and orchestration platforms like Docker and Kubernetes are increasingly being adopted to strengthen platform-independent development and automatic deployment of software. In this paper we quantitatively analyze the impact of topology, containerization, and edge-cloud distribution of ROS nodes on the efficiency of the ROS2 communication protocols. We then present a framework that automatically binds the most efficient ROS protocol for each node-to-node communication by considering architectural characteristics of both software and edge-cloud computing platform.
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