Automatic configuration of ROS applications for near-optimal performance

Jose Cano Reyes, Alejandro (Alex) Bordallo, Vijayanand Nagarajan, Subramanian Ramamoorthy, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

The performance of a ROS application is a function of the individual performance of its constituent nodes. Since ROS nodes are typically configurable (parameterised), the specific parameter values adopted will determine the level of performance generated. In addition, ROS applications may be distributed across multiple computation devices, thus providing different options for node allocation. We address two configuration problems that the typical ROS user is confronted with: i) determining parameter values and node allocations for maximising performance; ii) Determining node allocations for minimising hardware resources that can guarantee the desired performance. We formalise thesee problems with a mathematical model, a constrained form of a multiple-choice multiple knapsack problem. We propose a greedy algorithm for optimising each problem, using linear regression for predicting the performance of an individual ROS node over a continuous set of parameter combinations. We evaluate the algorithms through simulation and we validate them in a real ROS scenario, showing that the expected performance levels only deviate from the real measurements by an average of 2.5%.
Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
Place of PublicationDaejeon, South Korea
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Electronic)978-1-5090-3762-9
ISBN (Print)978-1-5090-3763-6
Publication statusPublished - 1 Dec 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems - Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016

Publication series

ISSN (Electronic)2153-0866


Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2016
Country/TerritoryKorea, Republic of
Internet address


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