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Real-Time Performance Analysis of Processing Systems on ROS 2 Executors | IEEE Conference Publication | IEEE Xplore

Real-Time Performance Analysis of Processing Systems on ROS 2 Executors


Abstract:

ROS (Robot Operating System) is one of the most popular robotic software development frameworks. Robotic systems in safety-critical domains are usually subject to hard re...Show More

Abstract:

ROS (Robot Operating System) is one of the most popular robotic software development frameworks. Robotic systems in safety-critical domains are usually subject to hard realtime constraints, so timing behaviors must be formally modeled and analyzed to guarantee that real-time constraints are always honored at run-time. Although a series of analysis techniques has been proposed to analyze the timing performance of ROS 2, the state-of-the-art still generates pessimistic results for ROS 2 systems modeled as DAG (Directed Acyclic Graph). This paper focuses on the analysis of such systems, and proposes techniques to analyze the timing performance in a more precise manner. Experiments with both randomly generated workload and a case study are conducted to evaluate and demonstrate our results.
Date of Conference: 09-12 May 2023
Date Added to IEEE Xplore: 23 June 2023
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ISSN Information:

Conference Location: San Antonio, TX, USA

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I. Introduction

The Robot Operating System (ROS) [1] is one of the most popular robotic software development frameworks. The most significant feature of ROS is to allow individually designed and loosely run-time coupled executables, and thus enables independent development and easy distribution. However, one of the primary shortcomings in ROS is lacking of realtime capability, which limits its application in safety-critical domains [2]. To better meet the needs of broader areas, ROS 2 [3] has been released, which not only inherits the design philosophy of ROS, but adds support for real-time control to improve the timing performance of robotic systems, i.e., ROS 2 adopts DDS [4] to implement publish-subscribe paradigm, realizing rapid and distributed communication.

References

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