LanderU/community

WG governance model & list of projects

ROS 2 Real-Time Working Group

This document defines the scope and governance of the ROS 2 Real-Time Working Group.

The Real-Time Working Group's mission is to advocate for and work on memory management, real-time pub/sub, real-time DDS, and tools that allow tracing, profiling and optimizing.

Subprojects

This Working Group owns and maintains the following Subprojects. Its meetings and membership are largely focused on the direction, design, and work on the projects.

Subproject List

The following subprojects are owned by Real-Time Working Group:

• rt-kernel-docker-builder
  • Description: Build and setup RT kernel for the ROS2 testing
  • Repositories
    • https://github.com/ros-realtime/rt-kernel-docker-builder

Related Projects

Performance measurements

• performance_test
  • Description: Tool to test the performance of pub/sub based communication frameworks
  • Repositories
    • https://gitlab.com/ApexAI/performance_test
• ros2-performance
  • Description: iRobot ROS2 performance evaluation framework
  • Repositories
    • https://github.com/irobot-ros/ros2-performance
• buildfarm_perf_tests
  • Description: Performance tests which run regularly on the ROS 2 buildfarm
  • Repositories
    • https://github.com/ros2/buildfarm_perf_tests
• TwoWaysMeasurement
  • Description: Tool to test the real-time performance in a ping-pong scenario
  • Repositories
    • https://github.com/y-okumura-isp/TwoWaysMeasurement
• ros2_timer_latency_measurement
  • Description: Tool to measure the accuracy of the ROS 2 timer
  • Repositories
    • https://github.com/hsgwa/ros2_timer_latency_measurement

Real-time utilities

• realtime_support
  • Description: Minimal real-time testing utility for measuring jitter and latency
    • rttest: rttest is a minimal tool for instrumenting and running tests for synchronous real-time systems
    • tlsf_cpp: C++ stdlib-compatible wrapper around tlsf allocator and ROS2 examples
  • Repositories
    • https://github.com/ros2/realtime_support
• ros2_tracing
  • Description: Tracing tools for ROS 2
  • Repositories
    • https://gitlab.com/ros-tracing/ros2_tracing
    • https://gitlab.com/ros-tracing/tracetools_analysis
• osrf_testing_tools_cpp
  • Description: This repository contains testing tools for C++, and is used in OSRF projects. The memory_tools API lets you intercept calls to dynamic memory calls like malloc and free, and provides some convenience functions for differentiating between expected and unexpected calls to dynamic memory functions.
  • Repositories:
    • https://github.com/osrf/osrf_testing_tools_cpp
• apex_test_tools
  • Description: The package Apex.OS Test Tools contains test helpers
  • Repositories:
    • https://gitlab.com/ApexAI/apex_test_tools
• apex_containers
  • Description: A collection of C++ containers suitable for real time systems
  • Repositories:
    • https://gitlab.com/ApexAI/apex_containers
• realtime_tools
  • Description: Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior
  • Repositories:
    • https://github.com/ros-controls/realtime_tools/tree/foxy-devel

Real-time demos

• pendulum_control
  • Description: Real-time inverted pendulum control demo
  • Repositories
    • https://github.com/ros2/demos/tree/master/pendulum_control
    • https://docs.ros.org/en/foxy/Tutorials/Real-Time-Programming.html
• pendulum
  • Description: Inverted pendulum demo inspired by pendulum_control
  • Repositories
    • https://github.com/ros2-realtime-demo/pendulum
• e2e_demo
  • Description: End-to-end latency demo
  • Repositories
    • https://github.com/hsgwa/e2e_demo

Meetings

• Regular WG Meeting: every other Tuesday at 7 AM Pacific time, see the ROS Events calendar
• To receive meeting invitations, join ros-real-time-working-group-invites
• Meeting notes are kept under ROS 2 Real-time Working Group Agenda
• Meetings are recorded and available in ROS 2 Real-time Working Group Agenda.
• Meetings are open to the public, and anyone is welcome to join

Communication Channels

• ROS discourse tag wg-real-time
• Chat in the Real-time WG Room on Matrix

Governance

See the governance document for more information.

How to Contribute

See the contributing document for more information.