Timing Analysis and Priority-driven Enhancements of ROS 2 Multi-threaded Executors
The second generation of Robotic Operating System, ROS 2, has gained much attention for its potential to be used for safety-critical robotic applications. The need to provide a solid foundation for timing correctness and scheduling mechanisms is therefore growing rapidly. Although there are some pioneering studies conducted on formally analyzing the response time of processing chains in ROS 2, the focus has been limited to single-threaded executors, and multi-threaded executors, despite their advantages, have not been studied well. To fill this knowledge gap, in this paper, we propose a comprehensive response-time analysis framework for chains running on ROS 2 multi-threaded executors. We first analyze the timing behavior of the default scheduling scheme in ROS 2 multi-threaded executors, and then present priority-driven scheduling enhancements to address the limitations of the default scheme. Our framework can analyze chains with both arbitrary and constrained deadlines and also the effect of mutually-exclusive callback groups. Evaluation is conducted by a case study on NVIDIA Jetson AGX Xavier and schedulability experiments using randomly-generated chains. The results demonstrate that our analysis framework can safely upper-bound response times under various conditions and the priority-driven scheduling enhancements not only reduce the response time of critical chains but also improve analytical bounds.
Code (0)
등록된 구현이 없습니다.
Tasks
SchedulingMethods 이 논문이 사용한 방법론
Similar Papers 제목 키워드 기반
JAWS: Just A Wild Shot for Cinematic Transfer in Neural Radiance Fields
This paper presents JAWS, an optimization-driven approach that achieves the robust transfer of visual cinematic features from a reference in-the-wild video clip to a newly generated clip. To this end, we rely on an impli…
NeRFSPARTA: Advancing Sparse Attention in Spiking Neural Networks via Spike-Timing-Based Prioritization
Current Spiking Neural Networks (SNNs) underutilize the temporal dynamics inherent in spike-based processing, relying primarily on rate coding while overlooking precise timing information that provides rich computational…
Computational EfficiencyEnhancing Attack Resilience in Real-Time Systems through Variable Control Task Sampling Rates
Cyber-physical systems (CPSs) in modern real-time applications integrate numerous control units linked through communication networks, each responsible for executing a mix of real-time safety-critical and non-critical ta…
SchedulingvalidA Survey of Real-Time Support, Analysis, and Advancements in ROS 2
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasi…
Learning-driven Physically-aware Large-scale Circuit Gate Sizing
Gate sizing plays an important role in timing optimization after physical design. Existing machine learning-based gate sizing works cannot optimize timing on multiple timing paths simultaneously and neglect the physical …