Modeling and Analysis of Inter-Process Communication Delay in ROS 2

Xiantong Luo; Xu Jiang; Nan Guan; Haochun Liang; Songran Liu; Wang Yi

doi:10.1109/RTSS59052.2023.00026

Modeling and Analysis of Inter-Process Communication Delay in ROS 2

Xiantong Luo
, Xu Jiang^*
, Nan Guan
, Haochun Liang
, Songran Liu
, Wang Yi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

ROS 2, the second-generation ROS, is a popular development framework for real-time robotic software. To ensure the timing correctness of applications based on ROS 2, one must model the time delay incurred by two aspects: computation and communication. While significant work has been conducted on computing delay, formal modeling and analysis of communication delay in ROS 2 is still an open issue. In this paper, we first present a formal description on the timing behavior of inter-process communication in ROS 2 with two typical communication policies, namely the InterestTree policy and FIFO policy, and then develop analysis techniques to upper-bound the incurred delay. We conduct experiments to validate the correctness and evaluate the efficacy of our method with case studies on realistic platform.

Original language	English
Title of host publication	44th IEEE Real-Time Systems Symposium, RTSS 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	198-209
Number of pages	12
ISBN (Electronic)	9798350328578
DOIs	https://doi.org/10.1109/RTSS59052.2023.00026
State	Published - 2023
Externally published	Yes
Event	44th IEEE Real-Time Systems Symposium, RTSS 2023 - Taipei, Taiwan, Province of China Duration: 5 Dec 2023 → 8 Dec 2023

Publication series

Name	Proceedings - Real-Time Systems Symposium
ISSN (Print)	1052-8725

Conference

Conference	44th IEEE Real-Time Systems Symposium, RTSS 2023
Country/Territory	Taiwan, Province of China
City	Taipei
Period	5/12/23 → 8/12/23

Access to Document

10.1109/RTSS59052.2023.00026

Cite this

@inproceedings{43bbf6b5fc5c4d31bec1e2f67a20b127,

title = "Modeling and Analysis of Inter-Process Communication Delay in ROS 2",

abstract = "ROS 2, the second-generation ROS, is a popular development framework for real-time robotic software. To ensure the timing correctness of applications based on ROS 2, one must model the time delay incurred by two aspects: computation and communication. While significant work has been conducted on computing delay, formal modeling and analysis of communication delay in ROS 2 is still an open issue. In this paper, we first present a formal description on the timing behavior of inter-process communication in ROS 2 with two typical communication policies, namely the InterestTree policy and FIFO policy, and then develop analysis techniques to upper-bound the incurred delay. We conduct experiments to validate the correctness and evaluate the efficacy of our method with case studies on realistic platform.",

author = "Xiantong Luo and Xu Jiang and Nan Guan and Haochun Liang and Songran Liu and Wang Yi",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 44th IEEE Real-Time Systems Symposium, RTSS 2023 ; Conference date: 05-12-2023 Through 08-12-2023",

year = "2023",

doi = "10.1109/RTSS59052.2023.00026",

language = "英语",

series = "Proceedings - Real-Time Systems Symposium",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "198--209",

booktitle = "44th IEEE Real-Time Systems Symposium, RTSS 2023",

address = "美国",

}

Luo, X, Jiang, X, Guan, N, Liang, H, Liu, S & Yi, W 2023, Modeling and Analysis of Inter-Process Communication Delay in ROS 2. in 44th IEEE Real-Time Systems Symposium, RTSS 2023. Proceedings - Real-Time Systems Symposium, Institute of Electrical and Electronics Engineers Inc., pp. 198-209, 44th IEEE Real-Time Systems Symposium, RTSS 2023, Taipei, Taiwan, Province of China, 5/12/23. https://doi.org/10.1109/RTSS59052.2023.00026

Modeling and Analysis of Inter-Process Communication Delay in ROS 2. / Luo, Xiantong; Jiang, Xu; Guan, Nan et al.
44th IEEE Real-Time Systems Symposium, RTSS 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 198-209 (Proceedings - Real-Time Systems Symposium).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Modeling and Analysis of Inter-Process Communication Delay in ROS 2

AU - Luo, Xiantong

AU - Jiang, Xu

AU - Guan, Nan

AU - Liang, Haochun

AU - Liu, Songran

AU - Yi, Wang

PY - 2023

Y1 - 2023

N2 - ROS 2, the second-generation ROS, is a popular development framework for real-time robotic software. To ensure the timing correctness of applications based on ROS 2, one must model the time delay incurred by two aspects: computation and communication. While significant work has been conducted on computing delay, formal modeling and analysis of communication delay in ROS 2 is still an open issue. In this paper, we first present a formal description on the timing behavior of inter-process communication in ROS 2 with two typical communication policies, namely the InterestTree policy and FIFO policy, and then develop analysis techniques to upper-bound the incurred delay. We conduct experiments to validate the correctness and evaluate the efficacy of our method with case studies on realistic platform.

AB - ROS 2, the second-generation ROS, is a popular development framework for real-time robotic software. To ensure the timing correctness of applications based on ROS 2, one must model the time delay incurred by two aspects: computation and communication. While significant work has been conducted on computing delay, formal modeling and analysis of communication delay in ROS 2 is still an open issue. In this paper, we first present a formal description on the timing behavior of inter-process communication in ROS 2 with two typical communication policies, namely the InterestTree policy and FIFO policy, and then develop analysis techniques to upper-bound the incurred delay. We conduct experiments to validate the correctness and evaluate the efficacy of our method with case studies on realistic platform.

UR - https://www.scopus.com/pages/publications/85185344995

U2 - 10.1109/RTSS59052.2023.00026

DO - 10.1109/RTSS59052.2023.00026

M3 - 会议稿件

AN - SCOPUS:85185344995

T3 - Proceedings - Real-Time Systems Symposium

SP - 198

EP - 209

BT - 44th IEEE Real-Time Systems Symposium, RTSS 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 44th IEEE Real-Time Systems Symposium, RTSS 2023

Y2 - 5 December 2023 through 8 December 2023

ER -

Modeling and Analysis of Inter-Process Communication Delay in ROS 2

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