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研究生： 鍾博丞
Chung, Bo-Chen
論文名稱： 基於微控制器之增強型低丟包高刷新率 Micro-ROS 通訊
Enhanced Low-Loss, High-Rate Micro-ROS Communication on Microcontroller
指導教授： 蘇文鈺
Su, Wen-Yu
學位類別： 碩士
Master
系所名稱： 電機資訊學院 - 資訊工程學系
Department of Computer Science and Information Engineering
論文出版年： 2025
畢業學年度： 113
語文別： 英文
論文頁數： 83
中文關鍵詞： 嵌入式即時系統 、機器人作業系統 、作業系統核心
外文關鍵詞： Embedded Real-time System, Robot OS, Linux Kernel
相關次數： 點閱：2751  下載：2 
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    • 基於使用 ROS 2 通訊的機器人生態系統之下，我們希望開發一套可以操控雙臂機器人的系統，其中包含了逆向動力學計算。微控制器的任務是頻繁讀取逆向動力學計算結果，進而即時操作機械手臂上的舵機角度。
    我們引入了 Micro-ROS 這個輕量級的 ROS 2 實作，並且使用了 FreeRTOS 作為即時作業系統，取代原先使用 JSON 字串轉譯訊息的方式。這樣的設計使得我們能夠在微控制器上運行 ROS 2 的功能，並且能夠與其他 ROS2 節點進行通訊。
    這樣的設計需要考量到微控制器的即時性和效能的問題，我們需要確保所有傳送進微控制器的 UDP 封包能夠盡可能地低延遲與高頻率地傳送，這需要考量多執行緒在高優先權下的上下文交換，或是單執行緒 I/O 多工的延遲與效能瓶頸問題。
    本論文使用資料融合的方式，並優化除錯訊息的取得方式，有效減少了中斷請求次數，提升了即時系統的可預測性，也提升了系統的效能與穩定性。
    此外，由於我們希望藉由 NVIDIA Jetson Orin Nano 上的 GPIO 控制機械手臂的電源開關，因此發現了其作業系統核心處理 GPIO 上的錯誤，並加以修正。

    Based on an ecosystem of robots communicating via ROS 2, we develop a system for commanding a dual-arm robot that provides inverse-kinematics computation. The task of the microcontroller is to read the inverse-kinematics results frequently and to control the servo angles of the robot arms in real time.
    We adopt Micro-ROS, a lightweight implementation of ROS 2, and FreeRTOS, replacing our previous JSON-string message-parsing scheme. This design lets us run ROS 2 functionality on the microcontroller and communicate seamlessly with other ROS 2 nodes.
    Such an architecture demands careful attention to real-time performance. We must ensure that every UDP packet arriving at the microcontroller is delivered with minimal latency and at high frequency. That in turn requires either analysis of context-switch overhead under high-priority multithreading, or of the latency and throughput limits of single-threaded I/O multiplexing.
    In this work, we apply data-fusion techniques to reduce the number of interrupt requests and optimize diagnostic-message transmission, thereby improving the predictability, performance, and stability of the real-time system.
    Finally, because we want to use the NVIDIA Jetson Orin Nano's GPIO pins to switch the robot's power, we discovered and corrected a bug in the Linux for Tegra (L4T) kernel's GPIO handling.

    摘要 i Abstract ii Contents iii List of Tables vi List of Figures vii 1 Introduction 1 1.1 Background 1 1.1.1 Standardization and Evolution of ROS 1 1.1.2 Motion Planning with MoveIt 2 and Micro-ROS Integration 1 1.2 Problem Statement 2 1.2.1 Latency in Finger Actuation 2 1.2.2 Micro-ROS Adoption and its Challenges 3 1.3 Objectives of the Study 4 2 Related Works 6 2.1 ROS2-System Applications 6 2.1.1 ROS 2 6 2.1.2 ROS Middleware 8 2.1.3 eProsima Fast DDS 10 2.1.4 MoveIt2 11 2.2 Embedded Microcontroller Applications 12 2.2.1 Adafruit PWM Servo Driver 12 2.2.2 FreeRTOS 13 2.2.3 Micro ROS and eProsima Micro XRCE-DDS 13 2.3 Scheduling in ROS2 15 2.4 Scheduling in Micro-ROS 17 2.5 Summary and Research Gap 21 3 This Work 23 3.1 System Architecture for Multi-Robot Arm Control 23 3.2 Micro-ROS on the Microcontroller 25 3.2.1 Arm-Control Task 25 3.2.2 Communication Mechanisms 26 3.2.3 Executor Configuration and Scheduling 26 3.2.4 Debug Channel 27 4 Performance Evaluation 28 4.1 Procedures for Performance Evaluation 28 4.1.1 Host-side Topic Publisher 28 4.1.2 MCU Subscription Callback Message Format 29 4.1.3 Host-side C++ Test Harness 29 4.2 Performance Evaluation of the Initial System Design 32 4.3 Performance Evaluation after Data Fusion 41 4.4 Performance Evaluation after Publisher Removal Only 45 4.5 Performance Evaluation after Combined Data Fusion and Publisher Removal 51 5 Conclusions and Future Works 56 Appendix A: NVIDIA Jetson Orin Nano 58 A.1 GPIO Issue on Jetson Orin Nano 58 A.1.1 Discrepancies between Spreadsheet and Hardware Specification 59 A.1.2 SoC Pin Name and Device Memory 60 A.1.3 GPIO Status in Device Memory 61 A.1.4 Solved by Modifying the Kernel Source Code 62 A.1.5 Change the Default GPIO Status 66 A.2 Enable exFAT Kernel Module 66 A.3 Final Result 67 Appendix B: The LaTeX Template 68 References 69

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