Publication:
Evaluation of the Robot Operating System 2 in Lossy Unmanned Networks

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Authors
Thulasiraman, P.
Chen, Z.
Allen, B.
Bingham, B.
Subjects
autonomous systems
cyber security
UAV swarms
ROS
Advisors
Date of Issue
2020
Date
Publisher
IEEE
Language
Abstract
The Robot Operating System 2 (ROS 2) is an open source middleware used for robotic applications. ROS 2 provides extensive security enhancements and quality of service (QoS) profiles not available in ROS 1. This paper studies the performance of ROS 2 in a small network of nodes, similar to how a group of unmanned assets would operate. Specifically, we analyze ROS 2 under varying QoS and security constraints in a wireless, lossy environment. This is the first work to comprehensively study ROS 2 network performance using QoS and security classification as a function of network scale in an environment that uses Wi-Fi communications. We custom build a simulation architecture that integrates ROS 2 with NS-3, an open source network simulator. Network performance metrics include latency and message drop rate. We show that enabling security results in a higher message drop rate across all QoS profiles. We also show that scaling the network to more nodes results in various consequences with the use of different QoS settings, including an increase in the average latency of messages. We also highlight some of the limitations there were observed with NS-3 and ROS 2.
Type
Conference Paper
Description
2020 IEEE International Systems Communications Conference (SYSCON)
Series/Report No
Department
Other Units
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
This work was funded and sponsored by the Office of Naval Research via the Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) at NPS.
Funder
Format
8 p.
Citation
P. Thulasiraman, Z. Chen, B. Allen and B. Bingham, “Evaluation of the Robot Operating System 2 in Lossy Unmanned Networks,” in Proc. Of IEEE International Systems Communications Conference (SYSCON) 2020, April 2020.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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