AFR

An Efficient Buffering Algorithm for Cloud Robotic Systems @IROS 2022

Description

This is an example that AFR algorithm works along with ROS. In order to do that, we have to modify underlining ROS code. To be specific:

• /ros_comm_ws is the modified ros_comm code, based on the Lunar version. Main changes are around here, here and here. In brief, we add some private members to the TransportSubscriberLink class, and these members are used within the modified ::enqueueMessage method. These changes can be easily transplant to other versions.

Usage

Change the directories in build.sh to your ROS directories, if needed.

Run build.sh. Note that this process will update your ROS library (libroscpp.so).

Re-compile your ros application, and enjoy!

Citation

The full paper can be accessed with arXiv.

If you are interested, please cite our IROS 2022 paper:

@inproceedings{iros/WangWZD22,
  author    = {Yu{-}Ping Wang and
               Hao{-}Ning Wang and
               Zi{-}Xin Zou and
               Dinesh Manocha},
  title     = {AFR: {A}n Efficient Buffering Algorithm for Cloud Robotic Systems},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems,
               {IROS} 2022, Kyoto, Japan, Oct. 23 - Oct. 27, 2022},
  publisher = {{IEEE}},
  year      = {2022}
}