ROS通信中的能源效率:跨编程语言和工作负载的比较
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
概括
机器人操作系统 (ROS) 中的Python使用的能量比C++更多. 消息频率显著影响能源使用,而客户端的数量影响很小.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 软件工程 软件工程 软件工程
- 计算机科学 计算机科学
背景情况:
- 机器人操作系统 (ROS) 是机器人软件开发的普遍框架,支持C++和Python.
- 在ROS中的不同编程语言,比如C++和Python,显示了不同的资源消耗,影响了能源效率.
- 能源消耗是现代机器人的关键性能指标.
研究的目的:
- 评估和比较在C++和Python中实现的ROS节点的能源效率.
- 分析通信范式 (主题,服务,行动) 对能源消耗的影响.
- 调查消息间隔和客户端计数对ROS能源效率的影响.
主要方法:
- 在用C++和Python编写的ROS节点上进行了实证实验.
- 独立变量包括编程语言,消息间隔和客户端数量.
- 在ROS主题,服务和行动中测量了能源效率.
主要成果:
- Python 实现始终表现出比 C++ 实现的功耗更高的功耗.
- 信息频率被确定为对能源效率具有高度影响的因素.
- 客户数量对资源使用的影响不那么重要,而更为可变.
结论:
- 与ROS开发的Python相比,C++提供了更高的能源效率.
- 优化消息频率对于提高ROS应用程序的能源效率至关重要.
- 需要进一步的研究来了解影响资源使用的架构行为.
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