Fast MAV Control by Control/Status OO-Messages on Shared-Memory Middleware

  • Dimitri Joukoff
  • Vladimir Estivill-Castro
  • René Hexel
  • Carl LustyEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 447)


We describe how control/status OO-messages on shared-memory middleware can provide better performing control of a micro-air vehicle (MAV). To illustrate this, we provide a new hardware abstraction for a controller application that is completely analogous to the popular ardrone_autonomy (AA) package that enables the Parrot AR Drone 2.0 quadcopter to be flown using commands over Wi-Fi. For fairness of comparison, we use the OO-messages on shared-memory middleware implementation gusimplewhiteboard in parallel with the ROS AA in the same code-base. We demonstrate the performance improvements associated with using gusimplewhiteboard messaging in place of ROS messages and services. We explain how further performance improvements can be achieved by fully implementing the Time Triggered Architecture (TTA) of the gusimplewhiteboard and its associated tools (clfsm & LLFSMs).


Robotic middleware ROSmessages and services Pull versus Push Control/status messages Time triggered architecture 



The authors wish to thank Dr. Jun Jo who made equipment and infrastructure available.


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Copyright information

© Springer International Publishing Switzerland 2017

Authors and Affiliations

  • Dimitri Joukoff
    • 1
  • Vladimir Estivill-Castro
    • 1
  • René Hexel
    • 1
  • Carl Lusty
    • 1
    Email author
  1. 1.Griffith UniversityNathanAustralia

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