This document contains a compilation of ROS and real-time related documents, articles, and discussions.
Introduction to Real-time Systems
Proposal for Implementation of Real-time Systems in ROS 2
Real-time programming in ROS 2
Building real-time Linux for ROS 2
Real-time programming with Linux (2022)
REP-2014: Benchmarking performance in ROS 2
DRAFT-REP-2017: Thread attributes configuration support in rcl
Real-time control in ROS and ROS 2.0 Slides Video
Evaluating the resilience of ROS2 communication layer Slides Video
Determinism in ROS Slides Video
Performance Test - A Tool for Communication Middleware Performance Measuring Slides Video
ROS 2 on Autonomous Vehicles Slides Video
Lessons learned building a self-driving car on ROS Slides Video
Mixed Real-Time Criticality with ROS2 - the Callback-group-level Executor slides video
ROS 2 ON VXWORKS slides video
Concurrency in ROS 1 and 2: from AsyncSpinner to MultithreadedExecutor slides video
ROS2 Real-Time Behavior: Static Memory Allocation video
Workshop: Doing Real-Time with ROS 2: Capabilities and Challenges
Real-time control in RedHawk and ROS 2.0 slides video
Boost pool allocation
Apex.OS Cert: Taking ROS 2 from prototype into production
Workshop: ROS 2 Executor: How to make it efficient,real-time and deterministic?
System Modes - model-based run-time state management of large systems Slides Video
Chain-Aware ROS Evaluation Tool Slides Video
Workshop: Real-Time Programming with ROS 2
Real-time Data-flow extension for ROS 2 Slides Video
Using Reference System to evaluate features and performance in a standardized and repeatable way Slides Video
Executors in ROS 2 Slides Video
The Multithreaded Events Executor Slides Video
Real-time ROS 2 applications made easy with cactus-rt Slides Video
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