Issue

Leibniz Transactions on Embedded Systems, Volume 11, Issue 1

LITES, Volume 11, Issue 1

Publication Details

  • published at: 2026-05-21
  • Publisher: Schloss Dagstuhl – Leibniz-Zentrum für Informatik

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Document
DOI: 10.4230/LITES.11.1.1
A Survey of Real-Time Support, Analysis, and Advancements in ROS 2

Authors: Daniel Casini, Jian-Jia Chen, Jing Li, Federico Reghenzani, and Harun Teper

Abstract
The Robot Operating System 2 (ROS 2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS 2 has drawn increasing attention from the real-time systems community and industry. This survey presents a comprehensive overview of research efforts that analyze, enhance, and extend ROS 2 to support real-time execution. We first provide a detailed description of the internal scheduling mechanisms of ROS 2 and its layered architecture, including the interaction with DDS-based communication and other communication middleware. We then review key contributions from the literature, covering timing analysis for both single- and multi-threaded executors, metrics such as response time, reaction time, and data age, and different communication modes. The survey also discusses community-driven enhancements to the ROS 2 runtime, including new executor algorithm designs, real-time GPU management, and microcontroller support via micro-ROS. Furthermore, we summarize techniques for bounding DDS communication delays, message filters, and profiling tools that have been developed to support analysis and experimentation. To help systematize this growing body of work, we introduce taxonomies that classify the surveyed contributions based on different criteria. This survey aims to guide both researchers and practitioners in understanding and improving the real-time capabilities of ROS 2.
Cite as

Daniel Casini, Jian-Jia Chen, Jing Li, Federico Reghenzani, and Harun Teper. A Survey of Real-Time Support, Analysis, and Advancements in ROS 2. In LITES, Volume 11, Issue 1 (2026). Leibniz Transactions on Embedded Systems, Volume 11, Issue 1, pp. 1:1-1:37, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@Article{casini_et_al:LITES.11.1.1,
  author =	{Casini, Daniel and Chen, Jian-Jia and Li, Jing and Reghenzani, Federico and Teper, Harun},
  title =	{{A Survey of Real-Time Support, Analysis, and Advancements in ROS 2}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{1:1--1:37},
  ISSN =	{2199-2002},
  year =	{2026},
  volume =	{11},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES.11.1.1},
  URN =		{urn:nbn:de:0030-drops-257914},
  doi =		{10.4230/LITES.11.1.1},
  annote =	{Keywords: ROS 2, middleware, real-time, timing predictability, publish-subscribe}
}
Document
DOI: 10.4230/LITES.11.1.2
Embedded Reconfiguration of TSN: Dual Reconfiguration with Dropping and Reclaiming

Authors: Álex Gracia, Alitzel G. Torres-Macías, Juan Segarra, José Luis Briz, Antonio Ramírez-Treviño, and Héctor Blanco-Alcaine

Abstract
This paper presents our solution to the Industrial Challenge on embedded reconfiguration of Time-Sensitive Networking (TSN), held at the 37-th ECRTS. The challenge requires restoring, at runtime and without precomputed solutions, the schedules of streams affected by a link failure in a realistic avionics network. Our solution applies a DROP policy at all bridges to purge the affected streams, updates Gate Control Lists (GCLs) accordingly, reclaims the transmission windows held by the dropped streams on operational links, and applies incremental scheduling to restore as many streams as possible in priority order. Transmission windows of the rescheduled streams are fit into the available gaps without modifying the schedule of unaffected streams. After the incremental scheduling stage, a last-resort mechanism purges all lower-priority streams than any yet-unscheduled critical stream, reclaims their resources, and retries; sacrificed streams are subsequently tested for rescheduling. Evaluated on the benchmark of the challenge - 5 bridges, 15 end-stations, and 241 streams across eight criticality classes - the system achieves perfect recovery in all eight single-link failure scenarios, with total reconfiguration times below 4.4 s. In a harder scenario, reducing the topology to a linear chain through four simultaneous link failures, all safety-critical streams are still recovered. Activating the last-resort mechanism recovers six additional lower-priority streams, with 96.9% of sacrificed streams subsequently re-rescheduled. This paper extends our original challenge submission with a formal algorithm description, a comprehensive experimental evaluation using Gurobi, and the priority-driven last-resort mechanism.
Cite as

Álex Gracia, Alitzel G. Torres-Macías, Juan Segarra, José Luis Briz, Antonio Ramírez-Treviño, and Héctor Blanco-Alcaine. Embedded Reconfiguration of TSN: Dual Reconfiguration with Dropping and Reclaiming. In LITES, Volume 11, Issue 1 (2026). Leibniz Transactions on Embedded Systems, Volume 11, Issue 1, pp. 2:1-2:11, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

Copy BibTex To Clipboard

@Article{gracia_et_al:LITES.11.1.2,
  author =	{Gracia, \'{A}lex and Torres-Mac{\'\i}as, Alitzel G. and Segarra, Juan and Briz, Jos\'{e} Luis and Ram{\'\i}rez-Trevi\~{n}o, Antonio and Blanco-Alcaine, H\'{e}ctor},
  title =	{{Embedded Reconfiguration of TSN: Dual Reconfiguration with Dropping and Reclaiming}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{2:1--2:11},
  ISSN =	{2199-2002},
  year =	{2026},
  volume =	{11},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES.11.1.2},
  URN =		{urn:nbn:de:0030-drops-275921},
  doi =		{10.4230/LITES.11.1.2},
  annote =	{Keywords: 802.1Qbv, TSN, TAS, GCL, Scheduling, Real-Time}
}

Filters

  • Authors
  • B
  • Blanco-Alcaine, Héctor
  • Briz, José Luis
  • C
  • Casini, Daniel
  • Chen, Jian-Jia
  • G
  • Gracia, Álex
  • L
  • Li, Jing
  • R
  • Ramírez-Treviño, Antonio
  • Reghenzani, Federico
  • S
  • Segarra, Juan
  • T
  • Teper, Harun
  • Torres-Macías, Alitzel G.

  • Subjects
  • Computer systems organization
  • Computer systems organization → Dependable and fault-tolerant systems and networks
  • Computer systems organization → Real-time operating systems
  • Computer systems organization → Real-time systems
  • Computer systems organization → Robotics
  • Networks
  • Networks → Network performance evaluation
  • Networks → Network protocols
  • Software and its engineering
  • Software and its engineering → Real-time schedulability
  • Software and its engineering → Real-time systems software
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