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Energy efficiency in ROS communication: a comparison across programming languages and workloads
Michel Albonico1, Manuela Bechara Cannizza1, Andreas Wortmann2
1IntelAgir Research Group, Informatics Department, Federal University of Technology, Paraná (UTFPR), Francisco Beltrão, Brazil.
Frontiers in Robotics and AI
|April 17, 2025
Summary
Python in Robot Operating System (ROS) uses more energy than C++. Message frequency significantly impacts energy use, while the number of clients has a minor effect.
Area of Science:
- Robotics
- Software Engineering
- Computer Science
Background:
- The Robot Operating System (ROS) is a prevalent framework for robotic software development, supporting C++ and Python.
- Different programming languages in ROS, like C++ and Python, show varied resource consumption, impacting energy efficiency.
- Energy consumption is a critical performance metric in modern robotics.
Purpose of the Study:
- To evaluate and compare the energy efficiency of ROS nodes implemented in C++ versus Python.
- To analyze the impact of communication paradigms (topics, services, actions) on energy consumption.
- To investigate the influence of message interval and client count on ROS energy efficiency.
Main Methods:
- Empirical experiments were conducted on ROS nodes written in C++ and Python.
- Independent variables included programming language, message interval, and the number of clients.
- Energy efficiency was measured across ROS topics, services, and actions.
Main Results:
- Python implementations consistently exhibited higher power consumption than C++ implementations.
- Message frequency was identified as a highly influential factor on energy efficiency.
- The number of clients had a less significant and more variable effect on resource usage.
Conclusions:
- C++ offers superior energy efficiency compared to Python for ROS development.
- Optimizing message frequency is crucial for improving the energy efficiency of ROS applications.
- Further research is needed to understand the architectural behaviors influencing resource usage.
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