Real-Time Performance Analysis of Processing Systems on ROS 2 Executors

Yue Tang; Nan Guan; Xu Jiang; Xiantong Luo; Wang Yi

doi:10.1109/RTAS58335.2023.00014

Real-Time Performance Analysis of Processing Systems on ROS 2 Executors

Yue Tang, Nan Guan, Xu Jiang^*, Xiantong Luo, 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

7 Citations (Scopus)

Abstract

ROS (Robot Operating System) is one of the most popular robotic software development frameworks. Robotic systems in safety-critical domains are usually subject to hard realtime constraints, so timing behaviors must be formally modeled and analyzed to guarantee that real-time constraints are always honored at run-time. Although a series of analysis techniques has been proposed to analyze the timing performance of ROS 2, the state-of-the-art still generates pessimistic results for ROS 2 systems modeled as DAG (Directed Acyclic Graph). This paper focuses on the analysis of such systems, and proposes techniques to analyze the timing performance in a more precise manner. Experiments with both randomly generated workload and a case study are conducted to evaluate and demonstrate our results. © 2023 IEEE.

Original language	English
Title of host publication	Proceedings - 29th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2023
Publisher	IEEE
Pages	80-92
ISBN (Electronic)	9798350321760
ISBN (Print)	9798350321777
DOIs	https://doi.org/10.1109/RTAS58335.2023.00014
Publication status	Published - 2023
Event	29th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2023) - University of Texas, San Antonio, United States Duration: 9 May 2023 → 12 May 2023 http://2023.rtas.org/program/ http://2023.rtas.org/

Publication series

Name	Proceedings of the IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS
Volume	2023-May
ISSN (Print)	1545-3421
ISSN (Electronic)	2642-7346

Conference

Conference	29th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2023)
Abbreviated title	RTAS'23
Country/Territory	United States
City	San Antonio
Period	9/05/23 → 12/05/23
Internet address	http://2023.rtas.org/program/ http://2023.rtas.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).

Research Keywords

DAG
real-time constraints
ROS
timing analysis

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10.1109/RTAS58335.2023.00014

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Cite this

Tang, Y., Guan, N., Jiang, X., Luo, X., & Yi, W. (2023). Real-Time Performance Analysis of Processing Systems on ROS 2 Executors. In Proceedings - 29th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2023 (pp. 80-92). (Proceedings of the IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS; Vol. 2023-May). IEEE. https://doi.org/10.1109/RTAS58335.2023.00014

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title = "Real-Time Performance Analysis of Processing Systems on ROS 2 Executors",

abstract = "ROS (Robot Operating System) is one of the most popular robotic software development frameworks. Robotic systems in safety-critical domains are usually subject to hard realtime constraints, so timing behaviors must be formally modeled and analyzed to guarantee that real-time constraints are always honored at run-time. Although a series of analysis techniques has been proposed to analyze the timing performance of ROS 2, the state-of-the-art still generates pessimistic results for ROS 2 systems modeled as DAG (Directed Acyclic Graph). This paper focuses on the analysis of such systems, and proposes techniques to analyze the timing performance in a more precise manner. Experiments with both randomly generated workload and a case study are conducted to evaluate and demonstrate our results. {\textcopyright} 2023 IEEE.",

keywords = "DAG, real-time constraints, ROS, timing analysis",

author = "Yue Tang and Nan Guan and Xu Jiang and Xiantong Luo 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).; 29th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2023), RTAS'23 ; Conference date: 09-05-2023 Through 12-05-2023",

year = "2023",

doi = "10.1109/RTAS58335.2023.00014",

language = "English",

isbn = "9798350321777",

series = "Proceedings of the IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS",

publisher = "IEEE",

pages = "80--92",

booktitle = "Proceedings - 29th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2023",

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Tang, Y, Guan, N, Jiang, X, Luo, X & Yi, W 2023, Real-Time Performance Analysis of Processing Systems on ROS 2 Executors. in Proceedings - 29th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2023. Proceedings of the IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS, vol. 2023-May, IEEE, pp. 80-92, 29th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2023), San Antonio, Texas, United States, 9/05/23. https://doi.org/10.1109/RTAS58335.2023.00014

Real-Time Performance Analysis of Processing Systems on ROS 2 Executors. / Tang, Yue; Guan, Nan; Jiang, Xu et al.
Proceedings - 29th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2023. IEEE, 2023. p. 80-92 (Proceedings of the IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS; Vol. 2023-May).

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

TY - GEN

T1 - Real-Time Performance Analysis of Processing Systems on ROS 2 Executors

AU - Tang, Yue

AU - Guan, Nan

AU - Jiang, Xu

AU - Luo, Xiantong

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

Y1 - 2023

N2 - ROS (Robot Operating System) is one of the most popular robotic software development frameworks. Robotic systems in safety-critical domains are usually subject to hard realtime constraints, so timing behaviors must be formally modeled and analyzed to guarantee that real-time constraints are always honored at run-time. Although a series of analysis techniques has been proposed to analyze the timing performance of ROS 2, the state-of-the-art still generates pessimistic results for ROS 2 systems modeled as DAG (Directed Acyclic Graph). This paper focuses on the analysis of such systems, and proposes techniques to analyze the timing performance in a more precise manner. Experiments with both randomly generated workload and a case study are conducted to evaluate and demonstrate our results. © 2023 IEEE.

AB - ROS (Robot Operating System) is one of the most popular robotic software development frameworks. Robotic systems in safety-critical domains are usually subject to hard realtime constraints, so timing behaviors must be formally modeled and analyzed to guarantee that real-time constraints are always honored at run-time. Although a series of analysis techniques has been proposed to analyze the timing performance of ROS 2, the state-of-the-art still generates pessimistic results for ROS 2 systems modeled as DAG (Directed Acyclic Graph). This paper focuses on the analysis of such systems, and proposes techniques to analyze the timing performance in a more precise manner. Experiments with both randomly generated workload and a case study are conducted to evaluate and demonstrate our results. © 2023 IEEE.

KW - DAG

KW - real-time constraints

KW - ROS

KW - timing analysis

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U2 - 10.1109/RTAS58335.2023.00014

DO - 10.1109/RTAS58335.2023.00014

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

SN - 9798350321777

T3 - Proceedings of the IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS

SP - 80

EP - 92

BT - Proceedings - 29th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2023

PB - IEEE

T2 - 29th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2023)

Y2 - 9 May 2023 through 12 May 2023

ER -

Tang Y, Guan N, Jiang X, Luo X, Yi W. Real-Time Performance Analysis of Processing Systems on ROS 2 Executors. In Proceedings - 29th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2023. IEEE. 2023. p. 80-92. (Proceedings of the IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS). Epub 2023 Jun 23. doi: 10.1109/RTAS58335.2023.00014

Real-Time Performance Analysis of Processing Systems on ROS 2 Executors

Abstract

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Conference

Bibliographical note

Research Keywords

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