Abstract
Robot operating system (ROS) is a widely used robotic software development framework. In safety-critical applications that require timing guarantees, the first generation of ROS falls short. The introduction of ROS 2 has addressed some of these limitations, but its multithreaded executor still struggles to meet real-time requirements. To address this issue, we design a new multithreaded executor called RTeX for ROS 2. The goal of RTeX is to improve system performance in terms of both run-time efficiency and timing predictability. We have implemented RTeX in the latest version of ROS 2 and conducted experiments on a real platform. The experimental results demonstrate that RTeX outperforms both the default ROS 2 multithreaded executor and its state-of-the-art variant, achieving significant real-time performance improvements. © 2024 IEEE.
| Original language | English |
|---|---|
| Pages (from-to) | 2578-2591 |
| Number of pages | 14 |
| Journal | IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems |
| Volume | 43 |
| Issue number | 9 |
| Online published | 21 Mar 2024 |
| DOIs | |
| Publication status | Published - Sept 2024 |
Funding
This work was supported in part by NSFC Project under Grant 62302083; in part by the Liaoning Provincial United Natural Science Foundation under Grant 2023-BSBA-123; in part by the Fundamental Research Funds for the Central Universities under Grant N2316009; and in part by the Huawei Innovation Research Program “Collaborative Research Project on Computational Sensing.”
Research Keywords
- executor
- Instruction sets
- Job shop scheduling
- lock-free
- Message systems
- Operating systems
- real-time
- Real-time systems
- ROS 2
- Software
- Timing
- robot operating system (ROS) 2
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