Experimental Evaluation of Callback Behavior in ROS 2 ExecutorsShow others and affiliations
2023 (English)In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA, Institute of Electrical and Electronics Engineers Inc. , 2023Conference paper, Published paper (Refereed)
Abstract [en]
Robot operating system 2 (ROS 2) is increasingly popular both in research and commercial robotic systems. ROS 2 is designed to allow real-time execution and data communication, enabling rapid prototyping and deployment of robotic systems. In order to predict and calculate execution times in ROS 2, one needs to analyze its internal scheduler, called executor. The executor has been updated in various distributions of ROS 2, which is shown to impact significantly the periodic execution invoked by the underlying operating system's timers, potentially causing unexpected latencies. To expose the mentioned impact due to executor differences, in this paper, we present an experimental evaluation of the execution behavior of ROS 2's schedulable entities, namely callbacks, among the existing versions of the executor. We visualize the differences of callback execution order via simulation, and we create design-level scenarios that impact the execution of periodically scheduled callbacks, negatively. Moreover, we show how such negative impact can be mitigated by using multi-threaded executors. Finally, we illustrate the observed behavior on a real-world centralized multi-agent robot system. Our work aims to raise awareness within the ROS 2 developer community, regarding possible problems of timer blocking, and propose a mitigation solution of the latter.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2023.
Keywords [en]
Multi agent systems, Real time systems, Data-communication, Design levels, Experimental evaluation, Multithreaded, Rapid deployments, Rapid-prototyping, Real time execution, Real-time data, Real-world, Robotic systems, Robot Operating System
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:mdh:diva-64706DOI: 10.1109/ETFA54631.2023.10275668Scopus ID: 2-s2.0-85175439932ISBN: 9798350339918 (print)OAI: oai:DiVA.org:mdh-64706DiVA, id: diva2:1810916
Conference
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
2023-11-092023-11-092024-06-14Bibliographically approved
In thesis