In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of Linux. We benchmark and study the worst case latencies and missed deadlines to characterize ROS 2.0 communications for real-time applications. We demonstrate experimentally how computation and network congestion impacts the communication latencies and ultimately, propose a setup that, under certain conditions, mitigates these delays and obtains bounded traffic.
@article{arxiv.1809.02595,
title = {Towards a distributed and real-time framework for robots: Evaluation of ROS 2.0 communications for real-time robotic applications},
author = {Carlos San Vicente Gutiérrez and Lander Usategui San Juan and Irati Zamalloa Ugarte and Víctor Mayoral Vilches},
journal= {arXiv preprint arXiv:1809.02595},
year = {2018}
}