Reactive Programming of Robots with RxROS

Henrik Larsen; Gijs van der Hoorn; Andrzej Wąsowski

doi:10.1007/978-3-030-75472-3_2

Reactive Programming of Robots with RxROS

Henrik Larsen, Gijs van der Hoorn, Andrzej Wąsowski^*

^*Corresponding author for this work

Robot Dynamics

Research output: Chapter in Book/Conference proceedings/Edited volume › Chapter › Scientific › peer-review

1 Citation (Scopus)

Abstract

Reactive programming is an alternative to callback-based programming. This tutorial chapter first discusses the problems of asynchronous programming with callbacks and locks—the standard ROS 2 API—and then presents a way to overcome them using the reactive programming paradigm. We introduce RxROS: a new API for implementing ROS nodes, based on the paradigm of reactive programming. We demonstrate advantages on small code examples in a tutorial style using simple nodes written in RxROS for ROS 2, and show the results of performance experiments indicating that RxROS does not introduce any significant performance overhead. RxROS is available under a BSD license, with bindings for both ROS 1 and ROS 2, in both Python and C + +. The implementation of RxROS for ROS 2 is available at https://github.com/rosin-project/rxros2.

Original language	English
Title of host publication	Robot Operating System (ROS)
Subtitle of host publication	The Complete Reference
Editors	Anis Koubaa
Publisher	Springer
Pages	55-83
Volume	6
ISBN (Electronic)	978-3-030-75472-3
ISBN (Print)	978-3-030-75471-6
DOIs	https://doi.org/10.1007/978-3-030-75472-3_2
Publication status	Published - 2021

Publication series

Name	Studies in Computational Intelligence
Volume	962
ISSN (Print)	1860-949X
ISSN (Electronic)	1860-9503

Keywords

Basics & foundations
Contributed ros packages
Reactive programming
ROS 2
RxCpp
RxPy
Tutorials

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10.1007/978-3-030-75472-3_2

Cite this

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Reactive Programming of Robots with RxROS

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