Paper Info
Title
Response Time Analysis and Priority Assignment of Processing Chains on ROS2 Executors
Abstract
ROS (Robot Operating System) is currently the most popular robotic software development framework. Robotic software in safe-critical domain are usually subject to hard real-time constraints, so designers must formally model and analyze their timing behaviors to guarantee that real-time constraints are always honored at runtime. This paper studies real-time scheduling and analysis of processing chains in ROS2, the second-generation ROS with a major consideration of real-time capability. First, we study response time analysis of processing chains on ROS2 executors. We show that the only existing result of this problem is both optimistic and pessimistic, and develop new techniques to address these problems and significantly improve the analysis precision. Second, we reveal that the response time of a processing chain on an executor only depends on its last scheduling entity (callback), which provides useful guidance for designers to improve not only the response time bound, but also the actual worst-case/average response time of the system at little design cost. We conduct experiments with both randomly generated workload and a case study on realistic ROS2 platforms to evaluate and demonstrate our results.
Year
DOI
Venue
2020
10.1109/RTSS49844.2020.00030
2020 IEEE Real-Time Systems Symposium (RTSS)
Keywords
DocType
ISSN
safe-critical domain,real-time constraints,real-time scheduling,processing chain,second-generation ROS,response time analysis,priority assignment,realistic ROS2 executors,robotic software development framework,robot operating system
Conference
1052-8725
ISBN
Citations 
PageRank 
978-1-7281-8325-1
1
0.35
References 
Authors
0
7
Name
Order
Citations
PageRank
Yue Tang143.11
Zhiwei Feng2149.42
Nan Guan39521.53
Xu Jiang4335.90
Mingsong Lv515815.88
Qingxu Deng621.40
Wang Yi7121.89