Screen Shot 2021-07-12 at 9.45_edited.jpg

ROS 2 Executor: How to make it efficient,
real-time and deterministic?

Overview

The power of ROS as a software framework is evident in its application area from feather-weight drones to vacuum cleaners to autonomous driving trucks. While a consolidation with flexible abstraction layers in the area of communication middleware has already been achieved, we are currently seeing a lot of activity when it comes to tweaking the execution of ROS nodes for the individual use cases. In this workshop you will get deep insights into the latest developments in the community dealing with efficiency, real-time and determinism. During a hands-on session you will learn how to do a real-time setup with ROS 2.    

Intended audience are all ROS users and developers that are interested in how software written with ROS is executed on the operating system and hardware, especially the ones who want to use ROS 2 in systems where they have to deal with resource constraints and real-time requirements. 

SystemComponent-Bus-02.png
SystemComponent-ECU-02.png
SystemComponent-ECU-02.png

ARM

x86

Application-Icon-Robotics-01.png
Application-Icon-Aero-01.png
Application-Icon-Robotaxis-01.png

Agenda

9:00 Motivation 

9.15 Current status of the Real Time Working Group (Andrei)

9.35 Current status of executor in ROS 2 Galactic (William)

9.55 Event Executor (iRobot)

10.45 Break

10.55 Lock-free ROS 2 Executor: A ring-buffer to rule them all (Pablo)

11.20 Execution with Waitset and Polling Subscriptions (Apex.AI)

11.45 Panel discussion (All)

Hands-on Session 13:00 - 16:00

13.00 Real-time ROS 2 basics. When it is needed

13.20 What are the necessary software and hardware components for the real-time setup

13.40 Develop ROS 2 real-time application

14.20 Break

14.30 Tune the Linux kernel for real-time

14.50 Tune ROS 2 system for real-time

15.10 Measure ROS 2 real-time performance (tools overview) 

15.30 Measure ROS 2 real-time performance (analyze the results)

15.50 Wrap-up 

Organizers

headshot_kholodnyi.jpg
staschulat_small.jpg

Jan Staschulat

Bosch 

Pablo Ghiglino

Klepsydra

William Woodall

Open Robotics

Venue: https://roscon.ros.org/2021/
Date: Thursday, October 21, 2021