Resources

This document contains a compilation of ROS and real-time related documents, articles, and discussions.

ROS 2 design

• Introduction to Real-time Systems

• Proposal for Implementation of Real-time Systems in ROS 2

Tutorials / Guides

• Real-time programming in ROS 2

• Building real-time Linux for ROS 2

• Real-time programming with Linux (2022)

ROSCon

ROSCon 2015

• Real-time Performance in ROS 2 Slides Video

ROSCon 2016

• Evaluating the resilience of ROS2 communication layer Slides Video

ROSCon 2017

• Determinism in ROS Slides Video

ROSCon 2018

• Middleware Performance Testing Slides Video

• ROS 2 on Autonomous Vehicles Slides Video

• ROSCon 2018: Mixed Real-Time Criticality with ROS2 - the Callback-group-level Executor slides video

ROSCon 2019

• ROS 2 ON VXWORKS slides video

• ROS2 Real-Time Behavior: Static Memory Allocation video

• Doing Real-Time with ROS 2: Capabilities and Challenges

ROSCon 2021

• ROS 2 Executor Workshop

Articles

• Exploring the performance of ROS2

• Towards a distributed and real-time framework for robots: Evaluation of ROS 2.0 communications for real-time robotic applications

• Response-Time Analysis of ROS 2 Processing Chains under Reservation-Based Scheduling

• Latency Overhead of ROS2 for Modular Time-Critical Systems

• Exploring Real-Time Executor on ROS 2

• Distributed and Synchronized Setup towards Real-Time Robotic Control using ROS2 on Linux

• Jan Staschulat, Ingo Lütkebohle, Ralph Lange. The rclc Executor: Domain-specific deterministic scheduling mechanisms for ROS applications on microcontrollers, EMSOFT 2020.

• Jan Staschulat, Ralph Lange, Dakshina Narahari Dasari. Budget-based real-time Executor for Micro-ROS. CoRR arXiv:2105.05590, May 2021

• L. Puck et al. Distributed and Synchronized Setup towards Real-Time Robotic Control using ROS2 on Linux

• Christophe Bédard, Ingo Lütkebohle, Michel Dagenais. ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2.

• Christophe Bédard, Pierre-Yves Lajoie, Giovanni Beltrame, Michel Dagenais. Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems