WiROS: A QoS Software Solution for ros2 in a WiFi Network

Jaiswal, B and Tyagi, H and Gopalan, A and Sevani, V (2023) WiROS: A QoS Software Solution for ros2 in a WiFi Network. In: 15th International Conference on COMmunication Systems and NETworkS, COMSNETS 2023, 3 - 8 January 2023, Bangalore, pp. 216-218.

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Abstract

Robot Operating System (ROS) has played a pivotal role as a communication middleware among different peripherals, including sensors and actuators of robotics and other systems, with the advancement of connected systems around the globe. The development of DDS (Data Distribution System) based ROS2 has also increased its popularity for applications involving multi-bot communication over the network. However, latency and throughput become bottlenecks for latency-critical applications such as remote surgery and remote driving in dense data traffic. ROS2-based end systems identify the data flow of their sensors' & actuators' messages as topics. A middleware solution must be designed to ensure the QoS (Quality of Service) required by the topics associated with the latency-critical applications. We perform a comparative study of the target application's topic affected by other existing topics in the network. A software solution to ensure the desired QoS to the applications in a static traffic scenario has been developed based on the scheduling of the message data flow and WiFi's EDCA parameters' configurations. © 2023 IEEE.

Item Type:	Conference Paper
Publication:	2023 15th International Conference on COMmunication Systems and NETworkS, COMSNETS 2023
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Actuators; Application programs; Data transfer; Electric power distribution; Middleware; Robot Operating System; Wi-Fi; Wireless local area networks (WLAN), Critical applications; Data distribution systems; Data traffic; Data traffic confluence; Gazebo; Iproute2; Quality-of-service; ROS2; Software solution; WMM, Quality of service
Department/Centre:	Division of Electrical Sciences > Electrical Communication Engineering Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Date Deposited:	20 Mar 2023 09:38
Last Modified:	20 Mar 2023 09:38
URI:	https://eprints.iisc.ac.in/id/eprint/81029

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