{"id":32286,"date":"2026-01-21T17:01:38","date_gmt":"2026-01-21T17:01:38","guid":{"rendered":"https:\/\/lamarr-institute.org\/publication\/reconciling-ros-2-with-classical-real-time-scheduling-of-periodic-tasks\/"},"modified":"2026-06-08T13:19:26","modified_gmt":"2026-06-08T13:19:26","slug":"reconciling-ros-2-with-classical-real-time-scheduling-of-periodic-tasks","status":"publish","type":"publication","link":"https:\/\/lamarr-institute.org\/de\/publication\/reconciling-ros-2-with-classical-real-time-scheduling-of-periodic-tasks\/","title":{"rendered":"Reconciling {ROS} 2 with Classical Real-Time Scheduling of Periodic Tasks"},"content":{"rendered":"<p>The Robot Operating System 2 ({ROS} 2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by {ROS} 2 executors. Since the scheduling behavior of the default {ROS} 2 executor is inherently different from classical real-time scheduling theory, dedicated analyses or alternative executors requiring substantial changes to {ROS} 2 have been developed. In 2023, the events executor was introduced into {ROS} 2. It features an events queue and allows the possibility to make scheduling decisions immediately after a job is completed. In this paper, we show that with minor modifications of the events executor, a large body of research results from classical real-time scheduling theory becomes directly applicable to {ROS} 2. This enables analytical bounds on the worst-case response time and the end-to-end latency, outperforming bounds for the default {ROS} 2 executor in many scenarios. Our solution is easy to integrate into existing {ROS} 2 systems since it requires only minor modifications of the events executor, which is natively included in {ROS} 2. The evaluation results show that our {ROS} 2 events executor with minor modifications can have significant improvement in terms of dropped jobs, worst-case response time, end-to-end latency, and performance compared to the default {ROS} 2 executor.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>The Robot Operating System 2 ({ROS} 2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by {ROS} 2 executors. Since the scheduling behavior of the default {ROS} 2 executor is inherently different from classical real-time scheduling theory, dedicated analyses or alternative executors requiring substantial changes to {ROS} 2 have been developed. In 2023, the events executor was [&hellip;]<\/p>\n","protected":false},"author":12,"featured_media":0,"template":"","meta":{"_acf_changed":false,"footnotes":""},"publication-type":[32],"class_list":["post-32286","publication","type-publication","status-publish","hentry","publication-type-inproceedings"],"acf":[],"publishpress_future_workflow_manual_trigger":{"enabledWorkflows":[]},"_links":{"self":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication\/32286","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication"}],"about":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/types\/publication"}],"author":[{"embeddable":true,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/users\/12"}],"version-history":[{"count":0,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication\/32286\/revisions"}],"wp:attachment":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/media?parent=32286"}],"wp:term":[{"taxonomy":"publication-type","embeddable":true,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication-type?post=32286"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}