{"id":1007,"date":"2018-12-10T16:22:50","date_gmt":"2018-12-10T15:22:50","guid":{"rendered":"https:\/\/babel.isa.uma.es\/kipr\/?p=1007"},"modified":"2018-12-10T16:26:37","modified_gmt":"2018-12-10T15:26:37","slug":"a-ros-module-that-improves-real-time-aspects-of-network-communication-among-distributed-ros-machines","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=1007","title":{"rendered":"A ROS module that improves real-time aspects of network communication among distributed ROS machines, and a nice analysis of wireless network characteristics and limitations"},"content":{"rendered":"<h4>Danilo Tardioli, Ramviyas Parasuraman, Petter \u00d6gren, <strong>Pound: A multi-master ROS node for reducing delay and jitter in wireless multi-robot networks<\/strong>, Robotics and Autonomous Systems, Volume 111, 2019, Pages 73-87, <a href=\"https:\/\/doi.org\/10.1016\/j.robot.2018.10.009\" target=\"_blank\">DOI: 10.1016\/j.robot.2018.10.009<\/a>.<\/h4>\n<blockquote><p>The Robot Operating System (ROS) is a popular and widely used software framework for building robotics systems. With the growth of its popularity, it has started to be used in multi-robot systems as well. However, the TCP connections that the platform relies on for connecting the so-called ROS nodes presents several issues regarding limited-bandwidth, delays, and jitter, when used in wireless multi-hop networks. In this paper, we present a thorough analysis of the problem and propose a new ROS node called Pound to improve the wireless communication performance by reducing delay and jitter in data exchanges, especially in multi-hop networks. Pound allows the use of multiple ROS masters (roscores), features data compression, and importantly, introduces a priority scheme that allows favoring more important flows over less important ones. We compare Pound to the state-of-the-art solutions through extensive experiments and show that it performs equally well, or better in all the test cases, including a control-over-network example.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Danilo Tardioli, Ramviyas Parasuraman, Petter \u00d6gren, Pound: A multi-master ROS node for reducing delay and jitter in wireless multi-robot networks, <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=1007\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[66],"tags":[387,356,295,87],"class_list":["post-1007","post","type-post","status-publish","format-standard","hentry","category-robotic-software","tag-communication-delays","tag-multirobot-systems","tag-ros","tag-soft-real-time"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1007"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1007"}],"version-history":[{"count":4,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1007\/revisions"}],"predecessor-version":[{"id":1011,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1007\/revisions\/1011"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1007"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1007"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1007"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}