Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems

  title={Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems},
  author={Christophe B'edard and Pierre-Yves Lajoie and Giovanni Alberto Beltrame and Michel R. Dagenais},
—Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2 executor, a high-level task scheduler which handles ROS 2 messages, is a performance bottleneck. We extend ros2 tracing , a framework with instrumentation and tools for real-time tracing of ROS 2, with the analysis and visualization of the flow of messages across… 

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Exploring Real-Time Executor on ROS 2

  • Yuqing YangTakuya Azumi
  • Computer Science
    2020 IEEE International Conference on Embedded Software and Systems (ICESS)
  • 2020
The Callback-grouplevel Executor was used to replace the standard rclcpp Executor in ROS 2, and the resulting performance was explored.