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RTeX: An Efficient and Timing-Predictable Multithreaded Executor for ROS 2 | IEEE Journals & Magazine | IEEE Xplore

RTeX: An Efficient and Timing-Predictable Multithreaded Executor for ROS 2


Abstract:

Robot operating system (ROS) is a widely used robotic software development framework. In safety-critical applications that require timing guarantees, the first generation...Show More

Abstract:

Robot operating system (ROS) is a widely used robotic software development framework. In safety-critical applications that require timing guarantees, the first generation of ROS falls short. The introduction of ROS 2 has addressed some of these limitations, but its multithreaded executor still struggles to meet real-time requirements. To address this issue, we design a new multithreaded executor called RTeX for ROS 2. The goal of RTeX is to improve system performance in terms of both run-time efficiency and timing predictability. We have implemented RTeX in the latest version of ROS 2 and conducted experiments on a real platform. The experimental results demonstrate that RTeX outperforms both the default ROS 2 multithreaded executor and its state-of-the-art variant, achieving significant real-time performance improvements.
Page(s): 2578 - 2591
Date of Publication: 21 March 2024

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