Timing-Aware ROS 2 Architecture and System Optimization

Harun Teper, Tobias Betz, Georg Von Der Brüggen, Kuan Hsun Chen, Johannes Betz, Jian Jia Chen

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

3 Zitate (Scopus)

Abstract

ROS 2 is a framework consisting of software libraries for developing robot systems, such as autonomous driving systems, that consist of multiple interacting components. In ROS 2, each component is implemented as a node, which contains time-triggered and event-triggered tasks. These tasks communicate with each other via ROS 2 topics or shared memory, and are scheduled by a ROS 2 executor. In ROS 2 systems, the system configuration and callback execution can have a significant impact on system performance, including end-to-end latencies, message loss, and memory usage. In this paper, we provide a bound on the timer period of ROS 2 timers to prevent sensor undersampling, and a subscription buffer size limit to prevent message loss and minimize memory usage. Furthermore, we explain the occurrence of message loss and high end-to-end latencies in ROS 2 systems, which are caused by the system configuration and subscription buffer size choice. Based on our observations, we propose a callback-prioritization heuristic to reduce end-to-end latencies and subscription buffer sizes. We demonstrate our findings using case studies based on Autoware.Universe and provide further evaluation to highlight the benefits of our heuristic.

OriginalspracheEnglisch
TitelProceedings - 2023 IEEE 29th International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2023
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten206-215
Seitenumfang10
ISBN (elektronisch)9798350337860
DOIs
PublikationsstatusVeröffentlicht - 2023
Veranstaltung29th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2023 - Niigata, Japan
Dauer: 30 Aug. 20231 Sept. 2023

Publikationsreihe

NameProceedings - 2023 IEEE 29th International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2023

Konferenz

Konferenz29th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2023
Land/GebietJapan
OrtNiigata
Zeitraum30/08/231/09/23

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