TY - GEN
T1 - Response Time Analysis and Priority Assignment of Processing Chains on ROS2 Executors
AU - Tang, Yue
AU - Feng, Zhiwei
AU - Guan, Nan
AU - Jiang, Xu
AU - Lv, Mingsong
AU - Deng, Qingxu
AU - Yi, Wang
N1 - Funding Information:
This work is supported by the Research Grants Council of Hong Kong (GRF 15204917 and 15213818) and National Natural Science Foundation of China (Grant No. 61672140).
Publisher Copyright:
© 2020 IEEE.
PY - 2020/12
Y1 - 2020/12
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85101979846&partnerID=8YFLogxK
U2 - 10.1109/RTSS49844.2020.00030
DO - 10.1109/RTSS49844.2020.00030
M3 - Conference article published in proceeding or book
AN - SCOPUS:85101979846
T3 - Proceedings - Real-Time Systems Symposium
SP - 231
EP - 243
BT - Proceedings - 2020 IEEE 41st Real-Time Systems Symposium, RTSS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st IEEE Real-Time Systems Symposium, RTSS 2020
Y2 - 1 December 2020 through 4 December 2020
ER -