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RTeX: An Efficient and Timing-Predictable Multithreaded Executor for ROS 2
- Source :
- IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems; September 2024, Vol. 43 Issue: 9 p2578-2591, 14p
- Publication Year :
- 2024
-
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.
Details
- Language :
- English
- ISSN :
- 02780070
- Volume :
- 43
- Issue :
- 9
- Database :
- Supplemental Index
- Journal :
- IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems
- Publication Type :
- Periodical
- Accession number :
- ejs67219369
- Full Text :
- https://doi.org/10.1109/TCAD.2024.3380551