| Presentation | 2022-06-07 Hardware implementation of the protocol for ROS2 and robot modules without CPU Daiki Matsunaga, Tomoya Shoji, Shozo Takeoka, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | ROS2 is a set of software libraries and tools for robot applications. It is widely used in robot development. A ROS2 robot system is composed of nodes which are software modules. Nodes communicate with each other with publish/subscribe model. FPGA is considered suitable for robots because of its low power consumption and performance. In this research, we developed a hardware implementation of RTPS protocol for ROS2. We can run ROS2 node on an FPGA. It has the advantages of low latency, low power consumption, and higher security. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | FPGA / ASIC / ROS2 / RTPS / High-Level Synthesis |
| Paper # | RECONF2022-3 |
| Date of Issue | 2022-05-31 (RECONF) |
| Conference Information | |
| Committee | RECONF |
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| Conference Date | 2022/6/7(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | CCS, Univ. of Tsukuba |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Reconfigurable system, etc. |
| Chair | Kentaro Sano(RIKEN) |
| Vice Chair | Yoshiki Yamaguchi(Tsukuba Univ.) / Tomonori Izumi(Ritsumeikan Univ.) |
| Secretary | Yoshiki Yamaguchi(NEC) / Tomonori Izumi(Toyohashi Univ. of Tech.) |
| Assistant | Yukitaka Takemura(INTEL) / Yasunori Osana(Ryukyu Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Reconfigurable Systems |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Hardware implementation of the protocol for ROS2 and robot modules without CPU |
| Sub Title (in English) | |
| Keyword(1) | FPGA |
| Keyword(2) | ASIC |
| Keyword(3) | ROS2 |
| Keyword(4) | RTPS |
| Keyword(5) | High-Level Synthesis |
| 1st Author's Name | Daiki Matsunaga |
| 1st Author's Affiliation | AXE, Inc.(AXE) |
| 2nd Author's Name | Tomoya Shoji |
| 2nd Author's Affiliation | AXE, Inc.(AXE) |
| 3rd Author's Name | Shozo Takeoka |
| 3rd Author's Affiliation | AXE, Inc.(AXE) |
| Date | 2022-06-07 |
| Paper # | RECONF2022-3 |
| Volume (vol) | vol.122 |
| Number (no) | RECONF-60 |
| Page | pp.pp.13-19(RECONF), |
| #Pages | 7 |
| Date of Issue | 2022-05-31 (RECONF) |