Transactional TF: Transform Library with Concurrency and Correctness

In the Robot Operating System (ROS), a major middle-ware for robots, the Transform Library (TF) is a mandatory package that manages transformation information between coordinate systems by using a directed forest data structure and providing methods for registering and computing the information. However, the structure has two fundamental problems. The first is its poor scalability: since it accepts only a single thread at a time due to using a single giant lock for mutual exclusion, the access to the tree is sequential. Second, there is a lack of data freshness: it retrieves non-latest synthetic data when computing coordinate transforma-tions because it prioritizes temporal consistency over data freshness. In this paper, we propose methods based on transactional techniques. This will al-low us to avoid anomalies, achieve high performance, and obtain fresh data. These transactional methods show a throughput of up to 429 times higher than the conventional method on a read-only workload and a freshness of up to 1276 times higher than the conventional one on a read-write combined workload.