CARET: Chain-Aware ROS 2 Evaluation Tool

This paper presents a tool to evaluate the latency of Robot Operating System (ROS) 2 applications called Chain-Aware ROS 2 Evaluation Tool (CARET). ROS 2 is designed to enhance the modularity of real-time robotic applications, including self-driving software such as Autoware. To analyze the performa...

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Bibliographic Details
Published in2022 IEEE 20th International Conference on Embedded and Ubiquitous Computing (EUC) pp. 1 - 8
Main Authors Kuboichi, Takahisa, Hasegawa, Atsushi, Peng, Bo, Miura, Keita, Funaoka, Kenji, Kato, Shinpei, Azumi, Takuya
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2022
Subjects
End-to-end Latency
Operating systems
Real-time systems
ROS 2
Safety
Self-driving Systems
Software
Time measurement
Ubiquitous computing
Visualization
Online AccessGet full text
DOI10.1109/EUC57774.2022.00010

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Summary:This paper presents a tool to evaluate the latency of Robot Operating System (ROS) 2 applications called Chain-Aware ROS 2 Evaluation Tool (CARET). ROS 2 is designed to enhance the modularity of real-time robotic applications, including self-driving software such as Autoware. To analyze the performance of ROS 2 applications, CARET supports measurement functionalities for the callback latency, node latency, communication time between nodes, and end-to-end latency. To calculate each latency, CARET provides tracepoints, an architecture file, information on tracepoint connections, and a message tracking functionality. Furthermore, CARET can visualize different types of latency, such as bottlenecks and lost message, to analyze ROS 2 applications. The experimental results demonstrate that CARET can successfully measure the end-to-end latency of Autoware.Universe, which is ROS 2-based self-driving software.
DOI:10.1109/EUC57774.2022.00010