Energy efficiency in ROS communication: a comparison across programming languages and workloads.

IF 2.9 Q2 ROBOTICS

Frontiers in Robotics and AI Pub Date : 2025-04-02 eCollection Date: 2025-01-01 DOI:10.3389/frobt.2025.1548250

Michel Albonico, Manuela Bechara Cannizza, Andreas Wortmann

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引用次数: 0

Abstract

Introduction: The Robot Operating System (ROS) is a widely used framework for robotic software development, providing robust client libraries for both C++ and Python. These languages, with their differing levels of abstraction, exhibit distinct resource usage patterns, including power and energy consumption-an increasingly critical quality metric in robotics.

Methods: In this study, we evaluate the energy efficiency of ROS two nodes implemented in C++ and Python, focusing on the primary ROS communication paradigms: topics, services, and actions. Through a series of empirical experiments, with programming language, message interval, and number of clients as independent variables, we analyze the impact on energy efficiency across implementations of the three paradigms.

Results: Our data analysis demonstrates that Python consistently demands more computational resources, leading to higher power consumption compared to C++. Furthermore, we find that message frequency is a highly influential factor, while the number of clients has a more variable and less significant effect on resource usage, despite revealing unexpected architectural behaviors of underlying programming and communication layers.

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ROS通信中的能源效率：跨编程语言和工作负载的比较。

机器人操作系统（ROS）是一个广泛用于机器人软件开发的框架，为c++和Python提供了强大的客户端库。这些语言具有不同的抽象层次，表现出不同的资源使用模式，包括功率和能源消耗——这是机器人技术中日益重要的质量度量标准。方法：在本研究中，我们评估了用c++和Python实现的两个ROS节点的能源效率，重点关注了主要的ROS通信范式：主题、服务和行动。通过一系列实证实验，以编程语言、消息间隔和客户端数量为自变量，我们分析了三种范式的实现对能源效率的影响。结果：我们的数据分析表明，与c++相比，Python始终需要更多的计算资源，导致更高的功耗。此外，我们发现消息频率是一个非常有影响力的因素，而客户机数量对资源使用的影响更大，影响也更小，尽管揭示了底层编程和通信层的意外架构行为。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Frontiers in Robotics and AI ROBOTICS-

CiteScore

6.50

自引率

5.90%

发文量

355

审稿时长

14 weeks

期刊介绍： Frontiers in Robotics and AI publishes rigorously peer-reviewed research covering all theory and applications of robotics, technology, and artificial intelligence, from biomedical to space robotics.