Modeling and Analysis of Inter-Process Communication Delay in ROS 2

Xiantong Luo; Xu Jiang; Nan Guan; Haochun Liang; Songran Liu; Wang Yi

doi:10.1109/RTSS59052.2023.00026

Modeling and Analysis of Inter-Process Communication Delay in ROS 2

Xiantong Luo
, Xu Jiang^*
, Nan Guan
, Haochun Liang
, Songran Liu
, Wang Yi

^*Corresponding author for this work

Department of Computer Science

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

13 Citations (Scopus)

Abstract

ROS 2, the second-generation ROS, is a popular development framework for real-time robotic software. To ensure the timing correctness of applications based on ROS 2, one must model the time delay incurred by two aspects: computation and communication. While significant work has been conducted on computing delay, formal modeling and analysis of communication delay in ROS 2 is still an open issue. In this paper, we first present a formal description on the timing behavior of inter-process communication in ROS 2 with two typical communication policies, namely the InterestTree policy and FIFO policy, and then develop analysis techniques to upper-bound the incurred delay. We conduct experiments to validate the correctness and evaluate the efficacy of our method with case studies on realistic platform. © 2023 IEEE.

Original language	English
Title of host publication	Proceedings - 44th IEEE Real-Time Systems Symposium
Subtitle of host publication	RTSS 2023
Publisher	IEEE
Pages	198-209
ISBN (Electronic)	9798350328578
ISBN (Print)	979-8-3503-2858-5
DOIs	https://doi.org/10.1109/RTSS59052.2023.00026
Publication status	Published - Dec 2023
Event	44th IEEE Real-Time Systems Symposium (RTSS 2023) - Howard Plaza Hotel Taipei, Taipei, Taiwan, China Duration: 5 Dec 2023 → 8 Dec 2023 https://2023.rtss.org/

Publication series

Name	Proceedings - Real-Time Systems Symposium
ISSN (Print)	1052-8725
ISSN (Electronic)	2576-3172

Conference

Conference	44th IEEE Real-Time Systems Symposium (RTSS 2023)
Abbreviated title	RTSS ’23
Place	Taiwan, China
City	Taipei
Period	5/12/23 → 8/12/23
Internet address	https://2023.rtss.org/

Bibliographical note

Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

Funding

This work was supported in part by the National Natural Science Foundation of China (NSFC 62102072) and the Research Council of Hong Kong GRF under Grants 11208522 and 15206221.

RGC Funding Information

RGC-funded

Access Output

10.1109/RTSS59052.2023.00026

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Cite this

@inproceedings{f2b5306fdb184926b90e27429e0f8492,

title = "Modeling and Analysis of Inter-Process Communication Delay in ROS 2",

abstract = "ROS 2, the second-generation ROS, is a popular development framework for real-time robotic software. To ensure the timing correctness of applications based on ROS 2, one must model the time delay incurred by two aspects: computation and communication. While significant work has been conducted on computing delay, formal modeling and analysis of communication delay in ROS 2 is still an open issue. In this paper, we first present a formal description on the timing behavior of inter-process communication in ROS 2 with two typical communication policies, namely the InterestTree policy and FIFO policy, and then develop analysis techniques to upper-bound the incurred delay. We conduct experiments to validate the correctness and evaluate the efficacy of our method with case studies on realistic platform. {\textcopyright} 2023 IEEE.",

author = "Xiantong Luo and Xu Jiang and Nan Guan and Haochun Liang and Songran Liu and Wang Yi",

note = "Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).; 44th IEEE Real-Time Systems Symposium (RTSS 2023), RTSS {\textquoteright}23 ; Conference date: 05-12-2023 Through 08-12-2023",

year = "2023",

month = dec,

doi = "10.1109/RTSS59052.2023.00026",

language = "English",

isbn = "979-8-3503-2858-5",

series = "Proceedings - Real-Time Systems Symposium",

publisher = "IEEE",

pages = "198--209",

booktitle = "Proceedings - 44th IEEE Real-Time Systems Symposium",

address = "United States",

url = "https://2023.rtss.org/",

}

Luo, X, Jiang, X, Guan, N, Liang, H, Liu, S & Yi, W 2023, Modeling and Analysis of Inter-Process Communication Delay in ROS 2. in Proceedings - 44th IEEE Real-Time Systems Symposium: RTSS 2023. Proceedings - Real-Time Systems Symposium, IEEE, pp. 198-209, 44th IEEE Real-Time Systems Symposium (RTSS 2023), Taipei, Taiwan, China, 5/12/23. https://doi.org/10.1109/RTSS59052.2023.00026

Modeling and Analysis of Inter-Process Communication Delay in ROS 2. / Luo, Xiantong; Jiang, Xu; Guan, Nan et al.
Proceedings - 44th IEEE Real-Time Systems Symposium: RTSS 2023. IEEE, 2023. p. 198-209 (Proceedings - Real-Time Systems Symposium).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Modeling and Analysis of Inter-Process Communication Delay in ROS 2

AU - Luo, Xiantong

AU - Jiang, Xu

AU - Guan, Nan

AU - Liang, Haochun

AU - Liu, Songran

AU - Yi, Wang

N1 - Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

PY - 2023/12

Y1 - 2023/12

N2 - ROS 2, the second-generation ROS, is a popular development framework for real-time robotic software. To ensure the timing correctness of applications based on ROS 2, one must model the time delay incurred by two aspects: computation and communication. While significant work has been conducted on computing delay, formal modeling and analysis of communication delay in ROS 2 is still an open issue. In this paper, we first present a formal description on the timing behavior of inter-process communication in ROS 2 with two typical communication policies, namely the InterestTree policy and FIFO policy, and then develop analysis techniques to upper-bound the incurred delay. We conduct experiments to validate the correctness and evaluate the efficacy of our method with case studies on realistic platform. © 2023 IEEE.

AB - ROS 2, the second-generation ROS, is a popular development framework for real-time robotic software. To ensure the timing correctness of applications based on ROS 2, one must model the time delay incurred by two aspects: computation and communication. While significant work has been conducted on computing delay, formal modeling and analysis of communication delay in ROS 2 is still an open issue. In this paper, we first present a formal description on the timing behavior of inter-process communication in ROS 2 with two typical communication policies, namely the InterestTree policy and FIFO policy, and then develop analysis techniques to upper-bound the incurred delay. We conduct experiments to validate the correctness and evaluate the efficacy of our method with case studies on realistic platform. © 2023 IEEE.

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U2 - 10.1109/RTSS59052.2023.00026

DO - 10.1109/RTSS59052.2023.00026

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 979-8-3503-2858-5

T3 - Proceedings - Real-Time Systems Symposium

SP - 198

EP - 209

BT - Proceedings - 44th IEEE Real-Time Systems Symposium

PB - IEEE

T2 - 44th IEEE Real-Time Systems Symposium (RTSS 2023)

Y2 - 5 December 2023 through 8 December 2023

ER -

Modeling and Analysis of Inter-Process Communication Delay in ROS 2

Abstract

Publication series

Conference

Bibliographical note

Funding

RGC Funding Information

Access Output

Other Access Options

Permanent Link

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Fingerprint

GRF: Managing Information Synchronicity in Real-Time Systems

GRF: Building a Theoretical Foundation for Real-time ROS

Cite this

Modeling and Analysis of Inter-Process Communication Delay in ROS 2

Abstract

Publication series

Conference

Bibliographical note

Funding

RGC Funding Information

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Projects

GRF: Managing Information Synchronicity in Real-Time Systems

GRF: Building a Theoretical Foundation for Real-time ROS

Cite this