{"id":32706,"date":"2026-01-21T17:02:29","date_gmt":"2026-01-21T17:02:29","guid":{"rendered":"https:\/\/lamarr-institute.org\/publication\/bridging-the-gap-between-ros-2-and-classical-real-time-scheduling-for-periodic-tasks\/"},"modified":"2026-09-17T11:25:39","modified_gmt":"2026-09-17T11:25:39","slug":"bridging-the-gap-between-ros-2-and-classical-real-time-scheduling-for-periodic-tasks","status":"publish","type":"publication","link":"https:\/\/lamarr-institute.org\/de\/publication\/bridging-the-gap-between-ros-2-and-classical-real-time-scheduling-for-periodic-tasks\/","title":{"rendered":"Bridging the Gap between ROS~ 2 and Classical Real-Time Scheduling for 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 required. In 2023, the events executor, which features an events queue and allows the possibility to make scheduling decisions immediately after a job completes, was introduced into ROS~2. In this paper, we show that, with only minor modifications of the events executor, a large body of research results from classical real-time scheduling theory becomes applicable. Hence, 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 backend 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 required. In 2023, the events executor, which features an events queue [&hellip;]<\/p>\n","protected":false},"author":14,"featured_media":0,"template":"","meta":{"_acf_changed":false,"footnotes":""},"publication-type":[30],"class_list":["post-32706","publication","type-publication","status-publish","hentry","publication-type-article"],"acf":[],"publishpress_future_workflow_manual_trigger":{"enabledWorkflows":[]},"_links":{"self":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication\/32706","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\/14"}],"version-history":[{"count":0,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication\/32706\/revisions"}],"wp:attachment":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/media?parent=32706"}],"wp:term":[{"taxonomy":"publication-type","embeddable":true,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication-type?post=32706"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}