2 Search Results for "Teper, Harun"

Document
DOI: 10.4230/LIPIcs.ECRTS.2025.1
A First Look at ROS 2 Applications Written in Asynchronous Rust

Authors: Martin Škoudlil, Michal Sojka, and Zdeněk Hanzálek

Published in: LIPIcs, Volume 335, 37th Euromicro Conference on Real-Time Systems (ECRTS 2025)

Abstract
The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous programming. Existing real-time scheduling and response-time analysis techniques for ROS 2 focus on applications written in C++ and do not address the unique execution models and challenges presented by Rust’s asynchronous programming paradigm. In this paper, we analyze the execution model of R2R - an asynchronous Rust ROS 2 bindings and various asynchronous Rust runtimes, comparing them with the execution model of C++ ROS 2 applications. We propose a structured approach for R2R applications aimed at deterministic real-time operation involving thread prioritization and callback-to-thread mapping schemes. Our experimental evaluation based on measuring end-to-end latencies of a synthetic application shows that the proposed approach is effective and outperforms other evaluated configurations. A more complex autonomous driving case study demonstrates its practical applicability. Overall, the experimental results indicate that our proposed structure achieves bounded response times for time-critical tasks. This paves the way for future work to adapt existing or develop new response-time analysis techniques for R2R applications using our structure.
Cite as

Martin Škoudlil, Michal Sojka, and Zdeněk Hanzálek. A First Look at ROS 2 Applications Written in Asynchronous Rust. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 1:1-1:21, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{skoudlil_et_al:LIPIcs.ECRTS.2025.1,
  author =	{\v{S}koudlil, Martin and Sojka, Michal and Hanz\'{a}lek, Zden\v{e}k},
  title =	{{A First Look at ROS 2 Applications Written in Asynchronous Rust}},
  booktitle =	{37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
  pages =	{1:1--1:21},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-377-5},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{335},
  editor =	{Mancuso, Renato},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.1},
  URN =		{urn:nbn:de:0030-drops-235794},
  doi =		{10.4230/LIPIcs.ECRTS.2025.1},
  annote =	{Keywords: ROS, Rust, Real-time, Response time}
}
Document
DOI: 10.4230/LIPIcs.ECRTS.2023.10
On the Equivalence of Maximum Reaction Time and Maximum Data Age for Cause-Effect Chains

Authors: Mario Günzel, Harun Teper, Kuan-Hsun Chen, Georg von der Brüggen, and Jian-Jia Chen

Published in: LIPIcs, Volume 262, 35th Euromicro Conference on Real-Time Systems (ECRTS 2023)

Abstract
Real-time systems require a formal guarantee of timing-constraints, not only for individual tasks but also for data-propagation. The timing behavior of data-propagation paths in a given system is typically described by its maximum reaction time and its maximum data age. This paper shows that they are equivalent. To reach this conclusion, partitioned job chains are introduced, which consist of one immediate forward and one immediate backward job chain. Such partitioned job chains are proven to describe maximum reaction time and maximum data age in a universal manner. This universal description does not only show the equivalence of maximum reaction time and maximum data age, but can also be exploited to speed up the computation of such significantly. In particular, the speed-up for synthesized task sets based on automotive benchmarks can be up to 1600. Since only very few non-restrictive assumptions are made, the equivalence of maximum data age and maximum reaction time holds for almost any scheduling mechanism and even for tasks which do not adhere to the typical periodic or sporadic task model. This observation is supported by a simulation of a ROS2 navigation system.
Cite as

Mario Günzel, Harun Teper, Kuan-Hsun Chen, Georg von der Brüggen, and Jian-Jia Chen. On the Equivalence of Maximum Reaction Time and Maximum Data Age for Cause-Effect Chains. In 35th Euromicro Conference on Real-Time Systems (ECRTS 2023). Leibniz International Proceedings in Informatics (LIPIcs), Volume 262, pp. 10:1-10:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@InProceedings{gunzel_et_al:LIPIcs.ECRTS.2023.10,
  author =	{G\"{u}nzel, Mario and Teper, Harun and Chen, Kuan-Hsun and von der Br\"{u}ggen, Georg and Chen, Jian-Jia},
  title =	{{On the Equivalence of Maximum Reaction Time and Maximum Data Age for Cause-Effect Chains}},
  booktitle =	{35th Euromicro Conference on Real-Time Systems (ECRTS 2023)},
  pages =	{10:1--10:22},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-280-8},
  ISSN =	{1868-8969},
  year =	{2023},
  volume =	{262},
  editor =	{Papadopoulos, Alessandro V.},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2023.10},
  URN =		{urn:nbn:de:0030-drops-180392},
  doi =		{10.4230/LIPIcs.ECRTS.2023.10},
  annote =	{Keywords: End-to-End, Timing Analysis, Maximum Data Age, Maximum Reaction Time, Cause-Effect Chain, Robot Operating Systems 2 (ROS2)}
}
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