2017 | OriginalPaper | Buchkapitel
Fast MAV Control by Control/Status OO-Messages on Shared-Memory Middleware
verfasst von : Dimitri Joukoff, Vladimir Estivill-Castro, René Hexel, Carl Lusty
Erschienen in: Robot Intelligence Technology and Applications 4
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Abstract
ardrone_autonomy
(AA) package that enables the Parrot AR Drone 2.0 quadcopter to be flown using commands over Wi-Fi. For fairness of comparison, we use the OO-messages on shared-memory middleware implementation gusimplewhiteboard
in parallel with the ROS
AA in the same code-base. We demonstrate the performance improvements associated with using gusimplewhiteboard
messaging in place of ROS
messages
and services
. We explain how further performance improvements can be achieved by fully implementing the Time Triggered Architecture (TTA) of the gusimplewhiteboard
and its associated tools (clfsm
& LLFSMs).