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ROSWorld2021-Tune The System For Real-time-Andrei

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38 views19 pages

ROSWorld2021-Tune The System For Real-time-Andrei

Uploaded by

haodomybest
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Te c h n o l o g y O f f i c e

Tune the (ROS 2) system for real-time


Andrei Kholodnyi, ROS 2 Real-time working group

2 0 2 1 W I N D R I V E R , A L L R I G H T S R E S E R V E D
Who we are (https://github.com/ros-realtime/community)

• ROS 2 real-time Working Group (RTWG):


• one of the working groups under the ROS 2 Technical Steering Committee
(TSC) umbrella
• Company list:
• Apex.AI
• Bosch
• Open Robotics
• Wind River
• and other contributors
What are we doing

• ROS 2 real-time WG Goals


• Provide a reference ROS2 real-time
system
• Provide guidelines
• Create benchmarks and test the
system
• Improve ROS2 real-time behavior
• Provide a collection of the useful
ROS 2 real-time resources
ROS 2 System

Apps

ROS 2

DDS

Operating System

Hardware
ROS 2 System

reference-system

performance_test
Apps

documentation
ROS 2

Ubuntu Linux ros_tracing


DDS

QNX Operating System rt_kernel

VxWorks Hardware Raspberry PI 4

Intel x86_64
What is a real-time

• Real-time system must guarantee response within specified time constraints,


often referred to as "deadlines“
• Hardware and software pieces make up the entire real-time system
• The key component that is needed to build a real-time system is a Real-Time
Operating System (RTOS)

https://www.indiamart.com/proddetail/heart-lung-machine-stockert-machine-20156402955.html
A reference_system run with and without RT config + stress
Operating systems taxonomy

General OS Soft real-time OS Hard real-time OS

variable time boundaries for tasks Tight time boundaries for tasks

May exceed the deadline Stay within the deadline

100s ms 10s ms 1s ms
When do you need a real-time?
• Building a real-time system can be a good idea if you need to make
sure that certain parts of your program run in a certain amount of time
• If you are working on a mission-critical or safety-related project, then
the need for building a real-time system is must.
• You can find real-time components in the safety-critical system
ROS 2 System
• Raspberry Pi 4 reference system (community, hobbyists)
• Intel x86_64 (a generic PC)
• Production HW – automotive (AVP), industrial (robot)

Apps

ROS2

DDS

Operating System Intel x86_64

Hardware Raspberry PI 4
ROS 2 System
• RT_PREEMPT kernel for Ubuntu 20.04 – Tier 1 platform
• A ready-to-use RT kernel for Raspberry PI4 available here

Apps

ROS2
Ubuntu raspi Ubuntu raspi
ROS 2 RT Linux DDS
RT_PREEMPT patch ROS 2 RT kernel
Operating System
ROS 2 RT config
Hardware
ROS 2 System
• There are different DDS vendors, we test them using a reference_system
, performance_test
• Tune DDS is a vendor specific, we need an individual support (call for
action)
• https://real-time-working-group.readthedocs.io/en/rolling/Guides/guides.html

Apps

CycloneDDS ROS2

Fast DDS DDS

Connext DDS Operating System

Iceoryx Hardware
ROS 2 System

• ROS2 Executors to improve a real-time behavior, ros_tracing, LTT-NG


Single threaded

Multi threaded

Callback groups Apps


Event
ROS2
PiCAS
DDS
RCLC
Operating System
Lock-free
Hardware
with wait-set
ROS 2 System
• https://github.com/ros-realtime/reference-system#setup-raspberry-pi-4-for
-the-test

• constant CPU frequency


• CPU isolation
• assign RT priorities to threads
• real-time coding guidelines Apps

ROS2

DDS

Operating System

Hardware
ROS 2 real-time tests
• reference_system, performance_test, pendulum_control

Apps

ROS2

Tests
DDS

Operating System

Hardware
Roadmap

• x86_64 support
• Buildfarm (generate ready-to-use ISO images)
• Create a HW test farm
• Some new tooling?
• Help with Executors performance (reference system evolution)
Conclusion

• Real-time ROS 2 depends on layers below (HW, OS, DDS) and layers
above (Application).
• Join us and contribute:
https://github.com/ros-realtime/community#how-to-contribute
• Please use it, and provide a feedback
References

• https://real-time-working-group.readthedocs.io/en/rolling/

• https://github.com/ros-realtime
• https://github.com/ros-realtime/reference-system
• https://github.com/ros-realtime/rt-kernel-docker-builder

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