Response time analysis for dynamic priority scheduling in ROS2

Arafat, Abdullah Al; Vaidhun, Sudharsan; Wilson, Kurt M.; Sun, Jinghao; Guo, Zhishan

doi:10.1145/3489517.3530447

Cited by 13 publications

(1 citation statement)

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“…Recent work has also explored the implications of operating systems and task schedulers on ROS 2 computational graph performance through benchmarking [50], [51], [52], [53], [54] as well as by optimizing the scheduling and communication layers of ROS and ROS 2 themselves [55], [56], [57], [58], [59], [60], [61], [62]. These works often focused on a specific context or (set of) performance counter(s).…”

Section: B Robotics Benchmarksmentioning

confidence: 99%

RobotCore: An Open Architecture for Hardware Acceleration in ROS 2

Mayoral-Vilches¹,

Neuman

Plancher

et al. 2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering the full robotics pipeline and integrates two distinct benchmarking approaches: black-box testing, which measures performance by eliminating upper layers and replacing them with a test application, and grey-box testing, an application-specific measure that observes internal system states with minimal interference. Our benchmarking framework provides ready-to-use tools and is easily adaptable for the assessment of custom ROS 2 computational graphs. Drawing from the knowledge of leading robot architects and system architecture experts, RobotPerf establishes a standardized approach to robotics benchmarking. As an open-source initiative, RobotPerf remains committed to evolving with community input to advance the future of hardware-accelerated robotics.

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