HPRM, a Lingua Franca-based middleware using shared-memory object stores and adaptive serialization, reports up to 173x lower broadcast latency than the tested ROS2 configuration and 91.1% lower latency in a CARLA driving benchmark.
Automatic latency management for ROS2: Benefits, challenges, and open problems,
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HPRM: High-Performance Robotic Middleware for Intelligent Autonomous Systems
HPRM, a Lingua Franca-based middleware using shared-memory object stores and adaptive serialization, reports up to 173x lower broadcast latency than the tested ROS2 configuration and 91.1% lower latency in a CARLA driving benchmark.