Expand description
RTAs for the default ROS2 executor
This module collects RTAs for the default executor of the ROS2 framework.
§Citations
The analyses provided in this module are based on the following publications:
- T. Blaß, D. Casini, S. Bozhko, and B. Brandenburg, “A ROS 2 Response-Time Analysis Exploiting Starvation Freedom and Execution-Time Variance”, Proceedings of the 42nd IEEE Real-Time Systems Symposium (RTSS 2021), pp. 41–53, December 2021.
- D. Casini, T. Blaß, I. Lütkebohle, and B. Brandenburg, “Response-Time Analysis of ROS 2 Processing Chains under Reservation-Based Scheduling”, Proceedings of the 31st Euromicro Conference on Real-Time Systems (ECRTS 2019), pp. 6:1–6:23, July 2019.
Please cite these papers when using functionality from this module.
Modules§
- bw
- Busy-window-aware analysis that exploits both the non-starvation property of the ROS2 callback scheduler and the busy-window principle, due to Blaß et al. (2021).
- rr
- Round-robin-aware analysis that exploits the non-starvation property of the ROS2 callback scheduler, due to Blaß et al. (2021).
Functions§
- rta_
event_ source - Bound the response time of an event source for a given supply and demand model, using the analysis proposed by Casini et al. (2019).
- rta_
polling_ point_ callback - Bound the response time of a polling-point-based callback using Lemmas 4 and 5 of Casini et al. (2019).
- rta_
processing_ chain - Bound the response time of a chain of callbacks using Lemma 8 of Casini et al. (2019).
- rta_
timer - Bound the response time of a timer callback using Lemma 3 of Casini et al. (2019).