Real-Time Scheduling and Analysis of Processing Chains on Multi-threaded Executor in ROS 2

Xu Jiang; Dong Ji; Nan Guan; Ruoxiang Li; Yue Tang; Yi Wang

doi:10.1109/RTSS55097.2022.00013

Real-Time Scheduling and Analysis of Processing Chains on Multi-threaded Executor in ROS 2

Xu Jiang, Dong Ji^*, Nan Guan, Ruoxiang Li, Yue Tang, Yi Wang

^*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

40 Citations (Scopus)

Abstract

ROS (Robot Operating System) is currently one of the most popular development frameworks for robotic software, which is usually subject to hard real-time constraints in safe-critical domains. Designers must formally model and analyze its timing behaviors to guarantee that real-time constraints are always honored at run-time. This paper studies real-time scheduling and analysis under a multi-threaded executor in ROS 2. We present a formal description of the scheduling model of multi-threaded executors, and develop response time analysis techniques for processing chains executing on it. Moreover, we identify a risk of increasing the response time of chains that may be caused by improper design when deploying systems on multi-threaded executors, which provides a useful guidance to designers. We conduct experiments with both randomly generated workloads and case studies on a realistic ROS 2 platform to evaluate and demonstrate our results.

Original language	English
Title of host publication	Proceedings - 43rd IEEE Real-Time Systems Symposium (RTSS 2022)
Publisher	IEEE
Pages	27-39
ISBN (Electronic)	978-1-6654-5346-2
DOIs	https://doi.org/10.1109/RTSS55097.2022.00013
Publication status	Published - 2022
Event	43rd IEEE Real-Time Systems Symposium, RTSS 2022 - Houston, United States Duration: 5 Dec 2022 → 8 Dec 2022

Publication series

Name	Proceedings - Real-Time Systems Symposium
Volume	2022-December
ISSN (Print)	1052-8725

Conference

Conference	43rd IEEE Real-Time Systems Symposium, RTSS 2022
Place	United States
City	Houston
Period	5/12/22 → 8/12/22

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 partially supported by National Natural Science Foundation of China under Grant NSFC 62102072, and Hong Kong Research Grant Council (GRF 11208522 and GRF 15206221).

RGC Funding Information

RGC-funded

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10.1109/RTSS55097.2022.00013

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Cite this

@inproceedings{0bac159d07ed4ee7b5871d37a6328973,

title = "Real-Time Scheduling and Analysis of Processing Chains on Multi-threaded Executor in ROS 2",

abstract = "ROS (Robot Operating System) is currently one of the most popular development frameworks for robotic software, which is usually subject to hard real-time constraints in safe-critical domains. Designers must formally model and analyze its timing behaviors to guarantee that real-time constraints are always honored at run-time. This paper studies real-time scheduling and analysis under a multi-threaded executor in ROS 2. We present a formal description of the scheduling model of multi-threaded executors, and develop response time analysis techniques for processing chains executing on it. Moreover, we identify a risk of increasing the response time of chains that may be caused by improper design when deploying systems on multi-threaded executors, which provides a useful guidance to designers. We conduct experiments with both randomly generated workloads and case studies on a realistic ROS 2 platform to evaluate and demonstrate our results.",

author = "Xu Jiang and Dong Ji and Nan Guan and Ruoxiang Li and Yue Tang and Yi Wang",

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).; 43rd IEEE Real-Time Systems Symposium, RTSS 2022 ; Conference date: 05-12-2022 Through 08-12-2022",

year = "2022",

doi = "10.1109/RTSS55097.2022.00013",

language = "English",

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Jiang, X, Ji, D, Guan, N , Li, R, Tang, Y & Wang, Y 2022, Real-Time Scheduling and Analysis of Processing Chains on Multi-threaded Executor in ROS 2. in Proceedings - 43rd IEEE Real-Time Systems Symposium (RTSS 2022). Proceedings - Real-Time Systems Symposium, vol. 2022-December, IEEE, pp. 27-39, 43rd IEEE Real-Time Systems Symposium, RTSS 2022, Houston, United States, 5/12/22. https://doi.org/10.1109/RTSS55097.2022.00013

Real-Time Scheduling and Analysis of Processing Chains on Multi-threaded Executor in ROS 2. / Jiang, Xu; Ji, Dong; Guan, Nan et al.
Proceedings - 43rd IEEE Real-Time Systems Symposium (RTSS 2022). IEEE, 2022. p. 27-39 (Proceedings - Real-Time Systems Symposium; Vol. 2022-December).

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

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AU - Ji, Dong

AU - Guan, Nan

AU - Li, Ruoxiang

AU - Tang, Yue

AU - Wang, Yi

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 - 2022

Y1 - 2022

N2 - ROS (Robot Operating System) is currently one of the most popular development frameworks for robotic software, which is usually subject to hard real-time constraints in safe-critical domains. Designers must formally model and analyze its timing behaviors to guarantee that real-time constraints are always honored at run-time. This paper studies real-time scheduling and analysis under a multi-threaded executor in ROS 2. We present a formal description of the scheduling model of multi-threaded executors, and develop response time analysis techniques for processing chains executing on it. Moreover, we identify a risk of increasing the response time of chains that may be caused by improper design when deploying systems on multi-threaded executors, which provides a useful guidance to designers. We conduct experiments with both randomly generated workloads and case studies on a realistic ROS 2 platform to evaluate and demonstrate our results.

AB - ROS (Robot Operating System) is currently one of the most popular development frameworks for robotic software, which is usually subject to hard real-time constraints in safe-critical domains. Designers must formally model and analyze its timing behaviors to guarantee that real-time constraints are always honored at run-time. This paper studies real-time scheduling and analysis under a multi-threaded executor in ROS 2. We present a formal description of the scheduling model of multi-threaded executors, and develop response time analysis techniques for processing chains executing on it. Moreover, we identify a risk of increasing the response time of chains that may be caused by improper design when deploying systems on multi-threaded executors, which provides a useful guidance to designers. We conduct experiments with both randomly generated workloads and case studies on a realistic ROS 2 platform to evaluate and demonstrate our results.

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ER -

Real-Time Scheduling and Analysis of Processing Chains on Multi-threaded Executor in ROS 2

Abstract

Publication series

Conference

Bibliographical note

Funding

RGC Funding Information

Access Output

Other Access Options

Permanent Link

Other Files and Links

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GRF: Managing Information Synchronicity in Real-Time Systems

GRF: Building a Theoretical Foundation for Real-time ROS

Cite this

Real-Time Scheduling and Analysis of Processing Chains on Multi-threaded Executor 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