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Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling (Artifact)

Authors Daniel Casini, Tobias Blaß, Ingo Lütkebohle, Björn B. Brandenburg



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Artifact Description

DARTS.5.1.5.pdf
  • Filesize: 290 kB
  • 2 pages

Document Identifiers

Author Details

Daniel Casini
  • Scuola Superiore Sant'Anna, Pisa, Italy
  • Max Planck Institute for Software Systems (MPI-SWS), Kaiserslautern, Germany
Tobias Blaß
  • Corporate Research, Robert Bosch GmbH, Renningen, Germany
  • Saarland Informatics Campus, Saarland University, Saarbrücken, Germany
Ingo Lütkebohle
  • Corporate Research, Robert Bosch GmbH, Renningen, Germany
Björn B. Brandenburg
  • Max Planck Institute for Software Systems (MPI-SWS), Kaiserslautern, Germany

Cite AsGet BibTex

Daniel Casini, Tobias Blaß, Ingo Lütkebohle, and Björn B. Brandenburg. Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling (Artifact). In Special Issue of the 31st Euromicro Conference on Real-Time Systems (ECRTS 2019). Dagstuhl Artifacts Series (DARTS), Volume 5, Issue 1, pp. 5:1-5:2, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2019)
https://doi.org/10.4230/DARTS.5.1.5

Artifact

Abstract

This artifact provides the means to validate and reproduce the results of the associated paper "Response-Time Analysis of ROS 2 Processing Chains under Reservation-Based Scheduling." It consists of two independent components. First, it contains a model validation component that validates the paper’s claims about the ROS 2 executor’s callback scheduling. Second, it contains the source code for the paper’s case study, i.e., an implementation of the proposed response-time analysis and a model of the move_base navigation stack.

Subject Classification

ACM Subject Classification
  • Software and its engineering → Real-time schedulability
Keywords
  • ROS
  • real-time systems
  • response-time analysis
  • robotics
  • resource reservation

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