With the development of deep learning, autonomous robot systems grow rapidly and require better performance. Robot Operating System 2 (ROS2) has been widely adopted as the main communication framework in autonomous robot systems. However, the performance of ROS2 has become the bottleneck of these real-time systems. From our observations, we find that it can take a large amount of time to serialize complex message in communication, especially for some high-level programming languages, including Python, Java and so on. To address this challenge, we propose a novel technique, called adaptive two-layer serialization algorithm, which can achieve good performance in communication for different kinds of messages. Experimental results show that our algorithm can achieve significant performance improvement over traditional methods in ROS2, up to 93% improvement in our framework. We have successfully applied our proposed techniques in a real autonomous robot system.

中文翻译：

---

机器人操作系统中的消息传递优化

随着深度学习的发展，自主机器人系统发展迅速，需要更好的性能。机器人操作系统 2 (ROS2) 已被广泛采用作为自主机器人系统中的主要通信框架。然而，ROS2的性能已经成为这些实时系统的瓶颈。从我们的观察中，我们发现在通信中序列化复杂的消息会花费大量的时间，特别是对于一些高级编程语言，包括 Python、Java 等。为了应对这一挑战，我们提出了一种新技术，称为自适应两层序列化算法，它可以在不同类型的消息通信中实现良好的性能。实验结果表明，我们的算法可以在 ROS2 中实现比传统方法显着的性能提升 我们的框架提高了 93%。我们已经成功地将我们提出的技术应用于真正的自主机器人系统。