Fixed-Priority and EDF Schedules for ROS2 Graphs on Uniprocessor
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866909970580111360 |
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| author | Bell, Oren Teper, Harun Günzel, Mario Gill, Chris Chen, Jian-Jia |
| author_facet | Bell, Oren Teper, Harun Günzel, Mario Gill, Chris Chen, Jian-Jia |
| contents | This paper addresses limitations of current scheduling methods in the Robot Operating System (ROS)2, focusing on scheduling tasks beyond simple chains and analyzing arbitrary Directed Acyclic Graphs (DAGs). While previous research has focused mostly on chain-based scheduling with ad-hoc response time analyses, we propose a novel approach using the events executor to implement fixed-job-level-priority schedulers for arbitrary ROS2 graphs on uniprocessor systems. We demonstrate that ROS 2 applications can be abstracted as forests of trees, enabling the mapping of ROS 2 applications to traditional real-time DAG task models. Our usage of the events executor requires a special implementation of the events queue and a communication middleware that supports LIFO-ordered message delivery, features not yet standard in ROS2. We show that our implementation generates the same schedules as a conventional fixed-priority DAG task scheduler, in spite of lacking access to the precedence information that usually is required. This further closes the gap between established real-time systems theory and ROS2 scheduling analyses. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_16926 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Fixed-Priority and EDF Schedules for ROS2 Graphs on Uniprocessor Bell, Oren Teper, Harun Günzel, Mario Gill, Chris Chen, Jian-Jia Distributed, Parallel, and Cluster Computing Operating Systems Robotics Software Engineering This paper addresses limitations of current scheduling methods in the Robot Operating System (ROS)2, focusing on scheduling tasks beyond simple chains and analyzing arbitrary Directed Acyclic Graphs (DAGs). While previous research has focused mostly on chain-based scheduling with ad-hoc response time analyses, we propose a novel approach using the events executor to implement fixed-job-level-priority schedulers for arbitrary ROS2 graphs on uniprocessor systems. We demonstrate that ROS 2 applications can be abstracted as forests of trees, enabling the mapping of ROS 2 applications to traditional real-time DAG task models. Our usage of the events executor requires a special implementation of the events queue and a communication middleware that supports LIFO-ordered message delivery, features not yet standard in ROS2. We show that our implementation generates the same schedules as a conventional fixed-priority DAG task scheduler, in spite of lacking access to the precedence information that usually is required. This further closes the gap between established real-time systems theory and ROS2 scheduling analyses. |
| title | Fixed-Priority and EDF Schedules for ROS2 Graphs on Uniprocessor |
| topic | Distributed, Parallel, and Cluster Computing Operating Systems Robotics Software Engineering |
| url | https://arxiv.org/abs/2512.16926 |