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Paper Abstract and Keywords
Presentation 2022-06-07 13:50
Hardware implementation of the protocol for ROS2 and robot modules without CPU
Daiki Matsunaga, Tomoya Shoji, Shozo Takeoka (AXE) RECONF2022-3
Abstract (in Japanese) (See Japanese page) 
(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) 
(in English) FPGA / ASIC / ROS2 / RTPS / High-Level Synthesis / / /  
Reference Info. IEICE Tech. Rep., vol. 122, no. 60, RECONF2022-3, pp. 13-19, June 2022.
Paper # RECONF2022-3 
Date of Issue 2022-05-31 (RECONF) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Notes on Review This article is a technical report without peer review, and its polished version will be published elsewhere.
Download PDF RECONF2022-3

Conference Information
Committee RECONF  
Conference Date 2022-06-07 - 2022-06-08 
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. 
Paper Information
Registration To RECONF 
Conference Code 2022-06-RECONF 
Language Japanese 
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  
Keyword(6)  
Keyword(7)  
Keyword(8)  
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)
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Speaker Author-1 
Date Time 2022-06-07 13:50:00 
Presentation Time 25 minutes 
Registration for RECONF 
Paper # RECONF2022-3 
Volume (vol) vol.122 
Number (no) no.60 
Page pp.13-19 
#Pages 7 
Date of Issue 2022-05-31 (RECONF) 

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