ROS 2 Real-time Working Group Online Meeting 18 - May 26, 2020 - Meeting Minutes

[takuya.azumi]

@Dejan_Pangercic @razr
Will there be time to introduce the following topics at the next WG? @hsgwa of ISP (Tier4’s subcontractor) will explain the topic if possible.

ROS2 generated child thread scheduling policy affects timers

Hello. We are investigating and studying the ROS2 real-time in a team. After checking the basic ROS2 functionality and pendulum_demo, I’ve noticed that ROS2 generates multiple threads in the background. In particular, the scheduling priority of DDS-generated threads may affect on timer and communication latency. Therefore, we are investigating the effect of the priority of child threads generated by ROS2 on timers and communication. This post presents a basic investigation and the experimen…