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Response time analysis for dynamic priority scheduling in ROS2

Authors:

Zhishan GuoAuthors Info & Claims

DAC '22: Proceedings of the 59th ACM/IEEE Design Automation Conference

Pages 301 - 306

https://doi.org/10.1145/3489517.3530447

Published: 23 August 2022 Publication History

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Abstract

Robot Operating System (ROS) is the most popular framework for developing robotics software. Typically, robotics software is safety-critical and employed in real-time systems requiring timing guarantees. Since the first generation of ROS provides no timing guarantee, the recent release of its second generation, ROS2, is necessary and timely, and has since received immense attention from practitioners and researchers. Unfortunately, the existing analysis of ROS2 showed the peculiar scheduling strategy of ROS2 executor, which severely affects the response time of ROS2 applications. This paper proposes a deadline-based scheduling strategy for the ROS2 executor. It further presents an analysis for an end-to-end response time of ROS2 workload (processing chain) and an evaluation of the proposed scheduling strategy for real workloads.

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Cited By

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Teper HBetz TGünzel MEbner DVon Der Brüggen GBetz JChen J(2024)End-To-End Timing Analysis and Optimization of Multi-Executor ROS 2 Systems2024 IEEE 30th Real-Time and Embedded Technology and Applications Symposium (RTAS)10.1109/RTAS61025.2024.00025(212-224)Online publication date: 13-May-2024
https://doi.org/10.1109/RTAS61025.2024.00025
Enright DXiang YChoi HKim H(2024)PAAM: A Framework for Coordinated and Priority-Driven Accelerator Management in ROS 22024 IEEE 30th Real-Time and Embedded Technology and Applications Symposium (RTAS)10.1109/RTAS61025.2024.00015(81-94)Online publication date: 13-May-2024
https://doi.org/10.1109/RTAS61025.2024.00015
Li RJiang XDong ZWu JXue CGuan N(2023)Worst-Case Latency Analysis of Message Synchronization in ROS2023 IEEE Real-Time Systems Symposium (RTSS)10.1109/RTSS59052.2023.00025(185-197)Online publication date: 5-Dec-2023
https://doi.org/10.1109/RTSS59052.2023.00025
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DAC '22: Proceedings of the 59th ACM/IEEE Design Automation Conference

July 2022

1462 pages

ISBN:9781450391429

DOI:10.1145/3489517

General Chair:
Rob Oshana
NXP

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 23 August 2022

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DAC '22: 59th ACM/IEEE Design Automation Conference

July 10 - 14, 2022

California, San Francisco

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Overall Acceptance Rate 1,770 of 5,499 submissions, 32%

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Teper HBetz TGünzel MEbner DVon Der Brüggen GBetz JChen J(2024)End-To-End Timing Analysis and Optimization of Multi-Executor ROS 2 Systems2024 IEEE 30th Real-Time and Embedded Technology and Applications Symposium (RTAS)10.1109/RTAS61025.2024.00025(212-224)Online publication date: 13-May-2024
https://doi.org/10.1109/RTAS61025.2024.00025
Enright DXiang YChoi HKim H(2024)PAAM: A Framework for Coordinated and Priority-Driven Accelerator Management in ROS 22024 IEEE 30th Real-Time and Embedded Technology and Applications Symposium (RTAS)10.1109/RTAS61025.2024.00015(81-94)Online publication date: 13-May-2024
https://doi.org/10.1109/RTAS61025.2024.00015
Li RJiang XDong ZWu JXue CGuan N(2023)Worst-Case Latency Analysis of Message Synchronization in ROS2023 IEEE Real-Time Systems Symposium (RTSS)10.1109/RTSS59052.2023.00025(185-197)Online publication date: 5-Dec-2023
https://doi.org/10.1109/RTSS59052.2023.00025
Sobhani HChoi HKim H(2023)Timing Analysis and Priority-driven Enhancements of ROS 2 Multi-threaded Executors2023 IEEE 29th Real-Time and Embedded Technology and Applications Symposium (RTAS)10.1109/RTAS58335.2023.00016(106-118)Online publication date: May-2023
https://doi.org/10.1109/RTAS58335.2023.00016
Li RHu TJiang XLi LXing WDeng QGuan N(2023)ROSGM: A Real-Time GPU Management Framework with Plug-In Policies for ROS 22023 IEEE 29th Real-Time and Embedded Technology and Applications Symposium (RTAS)10.1109/RTAS58335.2023.00015(93-105)Online publication date: May-2023
https://doi.org/10.1109/RTAS58335.2023.00015
Dust LPersson EEkström MMubeen SSeceleanu CGu R(2023)Experimental Evaluation of Callback Behavior in ROS 2 Executors2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)10.1109/ETFA54631.2023.10275668(1-8)Online publication date: 12-Sep-2023
https://doi.org/10.1109/ETFA54631.2023.10275668

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Analysis on quantum-based fixed priority scheduling of real-time tasks

Worst-case response time analysis of real-time tasks under fixed-priority scheduling with deferred preemption

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Analysis on quantum-based fixed priority scheduling of real-time tasks

Worst-case response time analysis of real-time tasks under fixed-priority scheduling with deferred preemption

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