@ishugoel and I are also interested in joining this meeting. We have been looking at the current implementation of the SingleThreadedExecutor to investigate the high CPU overhead. We have an ongoing discussion here: SingleThreadedExecutor creates a high CPU overhead in ROS 2 . As a first step we are starting work on creating a static version of the executor to investigate how much performance can be gained (POC). We think this is a separate issue from the scheduling “problem” discussed in Tobias’ work. Both issues are important to us and probably to others who want to run a “normal” ROS2 stack on an embedded board.
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