From 8b0a266bc0a1d554329bf0ed205432f3b7b1cf50 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Tue, 14 Dec 2021 15:39:15 +0100 Subject: [PATCH 01/27] restructuring of executor description, center alignment of figures --- .../execution_management/index.md | 175 ++++++++++++------ 1 file changed, 119 insertions(+), 56 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index d8eb3560..7ab6a4b3 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -15,11 +15,26 @@ redirect_from: * [Architecture](#architecture) * [Scheduling Semantics](#scheduling-semantics) +* [Analysis of processing patterns](#analysis-of-processing-patterns) + * [Real-time embedded applications](#real-time-embedded-applications) + * [Sense-plan-act pipeline in robotics](#sense-plan-act-pipeline-in-robotics) + * [Synchronization of multiple rates](#synchronization-of-multiple-rates) + * [High-priority processing path](#high-priority-processing-path) * [RCLC-Executor](#rclc-executor) - * [Requirement Analysis](#requirement-analysis) + * [Executive Summary](#executive-summary) + * [Motivation](#motivation) * [Features](#features) + * [Trigger condition](#trigger-condition) + * [Sequential execution](#sequential-execution) + * [LET-Semantics](#let-semantics) * [Executor API](#executor-api) + * [Configuration phase](#configuration-phase) + * [Running phase](#running-phase) * [Examples](#examples) + * [Embedded use-case](#embedded-use-case) + * [Sensor fusion](#sensor-fusion) + * [High priority path](#high-priority-path) + * [Future work](#future-work) * [Download](#download) * [Callback-group-level Executor](#callback-group-level-executor) @@ -84,7 +99,7 @@ The Executor concept, however, does not provide means for prioritization or cate ### Scheduling Semantics -In a recent paper [CB2019](#CB2019), the rclcpp Executor has been analyzed in detail and a response time analysis of cause-effect chains has been proposed under reservation-based scheduling. The Executor distinguishes four categories of callbacks: _timers_, which are triggered by system-level timers, _subscribers_, which are triggered by new messages on a subscribed topic, _services_, which are triggered by service requests, and _clients_, which are triggered by responses to service requests. The Executor is responsible for taking messages from the input queues of the DDS layer and executing the corresponding callback. Since it executes callbacks to completion, it is a non-preemptive scheduler, However it does not consider all ready tasks for execution, but only a snapshot, called readySet. This readySet is updated when the Executor is idle and in this step it interacts with the DDS layer updating the set of ready tasks. Then for every type of task, there are dedicated queues (timers, subscriptions, services, clients) which are processed sequentially. The following undesired properties were pointed out: +In a recent paper [[CB2019](#CB2019)], the rclcpp Executor has been analyzed in detail and a response time analysis of cause-effect chains has been proposed under reservation-based scheduling. The Executor distinguishes four categories of callbacks: _timers_, which are triggered by system-level timers, _subscribers_, which are triggered by new messages on a subscribed topic, _services_, which are triggered by service requests, and _clients_, which are triggered by responses to service requests. The Executor is responsible for taking messages from the input queues of the DDS layer and executing the corresponding callback. Since it executes callbacks to completion, it is a non-preemptive scheduler, However it does not consider all ready tasks for execution, but only a snapshot, called readySet. This readySet is updated when the Executor is idle and in this step it interacts with the DDS layer updating the set of ready tasks. Then for every type of task, there are dedicated queues (timers, subscriptions, services, clients) which are processed sequentially. The following undesired properties were pointed out: * Timers have the highest priority. The Executor processes _timers_ always first. This can lead to the intrinsic effect, that in overload situations messages from the DDS queue are not processed. * Non-preemptive round-robin scheduling of non-timer handles. Messages arriving during the processing of the readySet are not considered until the next update, which depends on the execution time of all remaining callbacks. This leads to priority inversion, as lower-priority callbacks may implicitly block higher-priority callbacks by prolonging the current processing of the readySet. @@ -92,37 +107,37 @@ In a recent paper [CB2019](#CB2019), the rclcpp Executor has been analyzed in de Due to these findings, the authors present an alternative approach to provide determinism and to apply well-known schedulability analyses to a ROS 2 systems. A response time analysis is described under reservation-based scheduling. -## RCLC-Executor -Here we introduce the rclc Executor, which is a ROS 2 Executor implemented based on and for the rcl API, for applications written in the C language. Often embedded applications require real-time to guarantee end-to-end latencies and need deterministic runtime behavior to correctly replay test data. However, this is difficult with the default ROS 2 Executor because of its complex semantics, as discussed in the previous section. - -First, we will analyse the requirements for such applications and, secondly, derive simple features for an Executor to enable deterministic and real-time behavior. Then we will present the API of the RCLC-Executor and provide example usages of the RCLC-Executor to address these requirements. - -### Requirement Analysis -First we discuss a use-case in the embedded domain, in which the time-triggered paradigm is often used to guarantee deterministic and real-time behavior. Then we analyse software design patterns in mobile robotics which enable deterministic behavior. +## Analysis of processing patterns +The development of an execution management mechanism for micro-ROS is based on an analysis of processing patterns commonly used in robotic applications. First, the processing patterns in the real-time embedded systems are described, in which the time-triggered paradigm is often used to guarantee deterministic and real-time behavior. Then, typical processing patterns are descrived for mobile robotics to implement deterministic runtime behavior. -#### Real-time embedded application used-case -In embedded systems, real-time behavior is approached by using the time-triggered paradigm, which means that the processes are periodically activated. Processes can be assigned priorities to allow pre-emptions. Figure 1 shows an example, in which three processes with fixed periods are shown. The middle and lower process are preempted multiple times depicted with empty dashed boxes. +### Real-time embedded applications +In embedded systems, real-time behavior is approached by using the time-triggered paradigm, which means that the processes are periodically activated. Processes can be assigned priorities to allow pre-emptions. Figure~1 shows an example, in which three processes with fixed periods are shown. The middle and lower process are preempted multiple times depicted with empty dashed boxes. -Schedule with fixed periods - -Figure 1: Fixed periodic preemptive scheduling +
+Schedule with fixed periods +Figure 1: Fixed periodic preemptive scheduling. +
To each process one or multiple tasks can be assigned, as shown in Figure 2. These tasks are executed sequentially, which is often called cooperative scheduling. -Schedule with fixed periods - +
+Schedule with fixed periods Figure 2: Processes with sequentially executed tasks. +
While there are different ways to assign priorities to a given number of processes, -the rate-monotonic scheduling assignment, in which processes with a shorter period have a higher priority, has been shown optimal if the processor utilization is less than 69% [LL1973](#LL1973). - - In the last decades many different scheduling approaches have been presented, however fixed-periodic preemptive scheduling is still widely used in embedded real-time systems [KZH2015](#KZH2015). This becomes also obvious, when looking at the features of current operating systems. Like Linux, real-time operating systems, such as NuttX, Zephyr, FreeRTOS, QNX etc., support fixed-periodic preemptive scheduling and the assignment of priorities, which makes the time-triggered paradigm the dominant design principle in this domain. +the rate-monotonic scheduling assignment, in which processes with a shorter period have a higher priority, has been shown optimal if the processor utilization is less than 69% [[LL1973](#LL1973)]. -However, data consistency is often an issue when preemptive scheduling is used and if data is being shared across multiple processes via global variables. Due to scheduling effects and varying execution times of processes, writing and reading these variables could occur sometimes sooner or later. This results in an latency jitter of update times (the timepoint at which a variable change becomes visible to other processes). Race conditions can occur when multiple processes access a variable at the same time. So solve this problem, the concept of logical-execution time (LET) was introduced in [HHK2001](#HHK2001), in which communication of data occurs only at pre-defined periodic time instances: Reading data only at the beginning of the period and writing data only at the end of the period. The cost of an additional latency delay is traded for data consistency and reduced jitter. This concept has also recently been applied to automotive applications [NSP2018](#NSP2018). + In the last decades many different scheduling approaches have been presented, however fixed-periodic preemptive scheduling is still widely used in embedded real-time systems [[KZH2015](#KZH2015)]. This becomes also obvious, when looking at the features of current operating systems. Like Linux, real-time operating systems, such as NuttX, Zephyr, FreeRTOS, QNX etc., support fixed-periodic preemptive scheduling and the assignment of priorities, which makes the time-triggered paradigm the dominant design principle in this domain. -Schedule with fixed periods +However, data consistency is often an issue when preemptive scheduling is used and if data is being shared across multiple processes via global variables. Due to scheduling effects and varying execution times of processes, writing and reading these variables could occur sometimes sooner or later. This results in an latency jitter of update times (the timepoint at which a variable change becomes visible to other processes). Race conditions can occur when multiple processes access a variable at the same time. So solve this problem, the concept of logical-execution time (LET) was introduced in [[HHK2001](#HHK2001)], in which communication of data occurs only at pre-defined periodic time instances: Reading data only at the beginning of the period and writing data only at the end of the period. The cost of an additional latency delay is traded for data consistency and reduced jitter. This concept has also recently been applied to automotive applications[[NSP2018](#NSP2018)]. +
+Schedule with fixed periods Figure 3: Data communication without and with Logical Execution Time paradigm. +
+ + An Example of the LET concept is shown in Figure 3. Assume that two processes are communicating data via one global variable. The timepoint when this data is written is at the end of the processing time. In the default case (left side), the process p3 and p4 receive the update. At the right side of the figure, the same scenario is shown with LET semantics. Here, the data is communicated only at period boundaries. In this case, the lower process communicates at the end of the period, so that always process p3 and p5 receive the new data. @@ -140,15 +155,16 @@ Derived Requirements: - sequential processing of callbacks - data synchronization with LET semantics -#### Sense-plan-act pipeline in robotics +### Sense-plan-act pipeline in robotics Now we describe common software design patterns which are used in mobile robotics to achieve deterministic behavior. For each design pattern we describe the concept and the derived requirements for a deterministic Executor. Concept: A common design paradigm in mobile robotics is a control loop, consisting of several phases: A sensing phase to aquire sensor data, a plan phase for localization and path planning and an actuation-phase to steer the mobile robot. Of course, more phases are possible, here these three phases shall serve as an example. Such a processing pipeline is shown in Figure 4. -Sense Plan Act Pipeline - +
+Sense Plan Act Pipeline Figure 4: Multiple sensors driving a Sense-Plan-Act pipeline. +
Typically multiple sensors are used to perceive the environment. For example an IMU and a laser scanner. The quality of localization algorithms highly depend on how old such sensor data is when it is processed. Ideally the latest data of all sensors should be processed. One way to achive this is to execute first all sensor drivers in the sense-phase and then process all algorithms in the plan-phase. @@ -159,68 +175,122 @@ For this sense-plan-act pattern, we could define one executor for each phase. Th Derived Requirements: - triggered execution of callbacks -#### Synchronization of multiple rates +### Synchronization of multiple rates Concept: Often multiple sensors are being used to sense the environment for mobile robotics. While an IMU sensor provides data samples at a very high rate (e.g., 500 Hz), laser scans are availabe at a much slower frequency (e.g. 10Hz) determined by the revolution time. Then the challenge is, how to deterministically fuse sensor data with different frequencies. This problem is depicted in Figure 5. -Sychronization of multiple rates - +
+Sychronization of multiple rates Figure 5: How to deterministically process multi-frequent sensor data. +
+ + Due to scheduling effects, the callback for evaluating the laser scan might be called just before or just after an IMU data is received. One way to tackle this is to write additional synchronization code inside the application. Obviously, this is a cumbersome and not-portable solution. An Alternative would be to evalute the IMU sample and the laser scan by synchronizing their frequency. For example by processing always 50 IMU samples with one laser scan. This approach is shown in Figure 6. A pre-processing callback aggregates the IMU samples and sends an aggregated message with 50 samples at 10Hz rate. Now both messages have the same frequency. With a trigger condition, which fires when both messages are available, the sensor fusion algorithm can expect always synchronized input data. -Sychnronization with a trigger - +
+Sychnronization with a trigger Figure 6: Synchronization of multiple input data with a trigger. +
In ROS 2, this is currently not possible to be modeled because of the lack of a trigger concept in the ROS2 Executor. Message filters could be used to synchronize input data based on the timestamp in the header, but this is only available in rclcpp (and not in rcl). Further more, it would be more efficient to have such a trigger concept directly in the Executor. Another idea would be to activly request for IMU data only when a laser scan is received. This concept is shown in Figure 7. Upon arrival of a laser scan mesage, first, a message with aggregated IMU samples is requested. Then, the laser scan is processed and later the sensor fusion algorithm. An Executor, which would support sequential execution of callbacks, could realize this idea. -Sychronization with sequence - +
+Sychronization with sequence Figure 7: Synchronization with sequential processing. - +
Derived Requirements from both concepts: - triggered execution - sequential procesing of callbacks -#### High-priority processing path +### High-priority processing path Motivation: Often a robot has to fullfill several activities at the same time. For example following a path and avoiding obstacles. While path following is a permanent activity, obstacle avoidance is trigged by the environment and should be immediately reacted upon. Therefore one would like to specify priorities to activities. This is depicted in Figure 8: -HighPriorityPath - +
+HighPriorityPath Figure 8: Managing high priority path with sequential order. +
Assuming a simplified control loop with the activities sense-plan-act, the obstacle avoidance, which might temporarily stop the robot, should be processed before the planning phase. In this example we assume that these activites are processed in one thread. Derived requirements: - sequential processing of callbacks +## RCLC-Executor + +### Executive Summary + +The RCLC Executor is an Executor for C applications and can be used with default rclcpp Executor semantics. If additional deterministic behavior is necessary, the user can rely on pre-defined sequential execution, trigged execution and LET-Semantics for data synchronization. The concept of the rclc-Executor has been published in [[SLL2020](#SLL2020)]. + +### Motivation +The need for the processing patterns, as described in the previous section, are often non-functional requirements that a robotic application must met: bounded end-to-end latencies, low jitter of response times of cause-effect chains, deterministic processing, and quick response times even in overload situations. + +Real-time requirements in embedded applications are typically met using real-time scheduling. The most common is the periodic scheduling policy, in which all functions are mapped to pre-defined periods, e.g., *1 ms*, *10 ms* or *100 ms*. This scheduling policy is well supported by all real-time operating systems and formal performance analysis approaches have been well known for decades. + +In contrast, ROS~2 follows an event-driven approach. Messages are communicated between nodes using the publish and subscribe paradigm. It is the responsibility of an Executor to react upon new messages. In detail, this Executor coordinates the execution of callbacks issued by the participating nodes by checking the incoming messages from the DDS queue and dispatching them to the underlying threads for execution. Currently, the dispatching mechanism is very basic: the Executor looks up wait queues, which notifies it of any pending messages in the DDS queue. + +If there are pending messages, the Executor executes the corresponding callbacks one after the other, which is also called round-robin to completion. In addition, the Executor also checks for events from application-level timers, which are always processed before messages. There is no further notion of prioritization or categorization of these callback calls. Moreover, the ROS~2 Executor from rclcpp in its current form does not leverage the real-time capabilities of the underlying operating system scheduler to have finer control on the execution order. The overall implication of this behavior is that time-critical callbacks could suffer possible deadline misses and degraded performance since they are serviced later than non-critical callbacks. Additionally, due to the round-robin mechanism and the resulting dependencies it causes on the execution time, it is difficult to determine usable bounds on the worst-case latency that each callback execution may incur [[CB2019](#CB2019)]. + +To address the aforementioned common processing patterns found in robotic applications with the event-driven ROS~2 execution scheme, we have developed a very flexible approach in micro-ROS named *rclc Executor* [[SLL2020](#SLL2020)]. + +It supports three main features: First, a *trigger condition* allows to define when the processing of a callback shall start. This is useful to implement sense-plan-act control loops or more complex processing structures with directed acyclic graphs. Second, a user can specify the *processing order* in which these callbacks will be executed. With this feature, the pattern of sensor fusion with multiple rates, in which data is requested from a sensor based on the arrival of some other sensor, can be easily implemented. Third, the rclc Executor allows to set scheduling parameters (e.g., priorities) of the underlying operating system. With this feature, prioritized processing can be implemented. Third, for periodic applications, the *LET Semantics* has been implemented. + ### Features -Based on the real-time embedded use-case as well as the software architecture patterns in mobile robotics, we propose an Executor with the following main features: -- user-defined sequential execution of callbacks +Based on the real-time embedded use-case as well as the processing patterns in mobile robotics, a flexible Executor with the following main features was developed: - trigger condition to activate processing +- user-defined sequential execution of callbacks - data synchronization: LET-semantics or rclcpp Executor semantics -As stated before, this Executor is based on the RCL library and is written in C to nativly support microcontroller applications written in C. These features are now described in more detail. +These features are now described in more detail. + +The rclc-Executor supports all event types as the default ROS~2 Executor, which are: +- subscriptions +- timers +- services +- clients +- guard conditions +- actions +- lifecycle -The rclc-Executor supports all event types like the ROS 2 rclc executor, which are: -- subscription -- timer -- service -- client -- guard condition +#### Trigger condition + +- Given a set of handles, a trigger condition, which is based on the availability of input data of these handles, decides when the processing of all callbacks starts. + +- Available options: + - ALL operation: fires when input data is available for all handles + - ANY operation: fires when input data is available for at least one handle + - ONE: fires when input data for a user-specified handle is available + - User-defined function: user can implement more sophisticated logic +
+Trigger condition ALL +Figure 9: Trigger condition ALL +
+ +
+Trigger condition ANY +Figure 10: Trigger condition ANY +
+ +
+Trigger condition ONE +Figure 11: Trigger condition ONE +
+
+Trigger condition user-defined +Figure 12: Trigger condition user-defined +
#### Sequential execution @@ -230,15 +300,10 @@ The rclc-Executor supports all event types like the ROS 2 rclc executor, which a - if the configuration of handle is ON_NEW_DATA, then the corresponding callback is only called if new data is available - if the configuration of the handle is ALWAYS, then the corresponding callback is always. If no data is available, then the callback is called with no data (e.g. NULL pointer). -#### Trigger condition - -- Given a set of handles, a trigger condition based on the input data of these handles shall decide when the processing is started. - -- Available options: - - ALL operation: fires when input data is available for all handles - - ANY operation: fires when input data is available for at least one handle - - ONE: fires when input data for a user-specified handle is available - - User-defined function: user can implement more sophisticated logic +
+Sequential execution semantics +Figure 13: Sequential execution semantics. +
#### LET-Semantics - Assumption: time-triggered system, the executor is activated periodically @@ -432,7 +497,7 @@ rclc_executor_set_trigger(&exe_sense, rclc_executor_trigger_one, &sense_Laser); // spin rclc_executor_spin(&exe_sense); ``` -#### High priorty path +#### High priority path This example shows the sequential processing order to execute the obstacle avoidance `obst_avoid` after the callbacks of the sense-phase and before the callback of the planning phase `plan`. @@ -458,9 +523,7 @@ rclc_executor_set_trigger(&exe, rclc_executor_trigger_one, &sense_Laser); rclc_executor_spin(&exe); ``` -### Summary -The RCLC Executor is an Executor for C applications and can be used with default rclcpp Executor semantics. If additional deterministic behavior is necessary, the user can rely on pre-defined sequential execution, trigged execution and LET-Semantics for data synchronization. The concept of the rclc-Executor has been published in [SLL2020](#SLL2020). ### Future work From d06ded845c93866f7667bbe9434ade4592ec73f8 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Tue, 14 Dec 2021 16:30:08 +0100 Subject: [PATCH 02/27] added link to Executor Workshop, multi-threaded executor arxiv publication, minor typos --- .../execution_management/index.md | 35 +++++++++++++------ 1 file changed, 24 insertions(+), 11 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 7ab6a4b3..0483c10c 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -20,7 +20,7 @@ redirect_from: * [Sense-plan-act pipeline in robotics](#sense-plan-act-pipeline-in-robotics) * [Synchronization of multiple rates](#synchronization-of-multiple-rates) * [High-priority processing path](#high-priority-processing-path) -* [RCLC-Executor](#rclc-executor) +* [rclc Executor](#rclc-executor) * [Executive Summary](#executive-summary) * [Motivation](#motivation) * [Features](#features) @@ -32,8 +32,10 @@ redirect_from: * [Running phase](#running-phase) * [Examples](#examples) * [Embedded use-case](#embedded-use-case) + * [Sense-plan-act pipeline](#sense-plan-act-pipeline) * [Sensor fusion](#sensor-fusion) * [High priority path](#high-priority-path) + * [ROS 2 Executor Workshop Reference System](#ros-2-executor-workshop-reference-system) * [Future work](#future-work) * [Download](#download) @@ -148,7 +150,7 @@ The described embedded use case relies on the following concepts: - co-operative scheduling of tasks within a process (sequential execution) - data synchronization with LET-semantics -While periodic activation is possible in ROS2 by using timers, preemptive scheduling is supported by the operating system and assigning priorities on the granularity of threads/processes that correspond to the ROS nodes; it is not possible to sequentially execute callbacks, which have no data-dependency. Furthermore data is read from the DDS queue just before the callback is executed and data is written sometime during the time the application is executed. While the `spin_period` function of the rclcpp-Executor allows to check for data at a fixed period and executing those callbacks for which data is available, however, with this spin-function does not execute all callbacks irrespective wheter data is available or not. So `spin_period` is not helpful to periodically execute a number of callbacks (aka tasks within a process). So we need a mechanism that triggers the execution of multiple callbacks (aka tasks) based on a timer. Data transmission is achieved via DDS which does not allow to implement a LET-semantics. To summarize, we derive the following requirements: +While periodic activation is possible in ROS2 by using timers, preemptive scheduling is supported by the operating system and assigning priorities on the granularity of threads/processes that correspond to the ROS nodes; it is not possible to sequentially execute callbacks, which have no data-dependency. Furthermore data is read from the DDS queue just before the callback is executed and data is written sometime during the time the application is executed. While the `spin_period` function of the rclcpp Executor allows to check for data at a fixed period and executing those callbacks for which data is available, however, with this spin-function does not execute all callbacks irrespective wheter data is available or not. So `spin_period` is not helpful to periodically execute a number of callbacks (aka tasks within a process). So we need a mechanism that triggers the execution of multiple callbacks (aka tasks) based on a timer. Data transmission is achieved via DDS which does not allow to implement a LET-semantics. To summarize, we derive the following requirements: Derived Requirements: - trigger the execution of multiple callbacks @@ -168,7 +170,7 @@ Figure 4: Multiple sensors driving a Sense-Plan-Act pipeline. Typically multiple sensors are used to perceive the environment. For example an IMU and a laser scanner. The quality of localization algorithms highly depend on how old such sensor data is when it is processed. Ideally the latest data of all sensors should be processed. One way to achive this is to execute first all sensor drivers in the sense-phase and then process all algorithms in the plan-phase. -Currently, such a processing order cannot be defined with the default ROS2-Executor. One could in principle design a data-driven pipeline, however if e.g. the Laser scan is needed by some other callback in the sense-phase as well as in the plan-phase, the processing order of these subscribers is arbitrary. +Currently, such a processing order cannot be defined with the default ROS2 Executor. One could in principle design a data-driven pipeline, however if e.g. the Laser scan is needed by some other callback in the sense-phase as well as in the plan-phase, the processing order of these subscribers is arbitrary. For this sense-plan-act pattern, we could define one executor for each phase. The plan-phase would be triggered only when all callbacks in the sense-phase have finished. @@ -226,11 +228,11 @@ Assuming a simplified control loop with the activities sense-plan-act, the obsta Derived requirements: - sequential processing of callbacks -## RCLC-Executor +## rclc Executor ### Executive Summary -The RCLC Executor is an Executor for C applications and can be used with default rclcpp Executor semantics. If additional deterministic behavior is necessary, the user can rely on pre-defined sequential execution, trigged execution and LET-Semantics for data synchronization. The concept of the rclc-Executor has been published in [[SLL2020](#SLL2020)]. +The rclc Executor is an Executor for C applications and can be used with default rclcpp Executor semantics. If additional deterministic behavior is necessary, the user can rely on pre-defined sequential execution, trigged execution and LET-Semantics for data synchronization. The concept of the rclc Executor has been published in [[SLL2020](#SLL2020)]. ### Motivation The need for the processing patterns, as described in the previous section, are often non-functional requirements that a robotic application must met: bounded end-to-end latencies, low jitter of response times of cause-effect chains, deterministic processing, and quick response times even in overload situations. @@ -254,7 +256,7 @@ Based on the real-time embedded use-case as well as the processing patterns in m These features are now described in more detail. -The rclc-Executor supports all event types as the default ROS~2 Executor, which are: +The rclc Executor supports all event types as the default ROS~2 Executor, which are: - subscriptions - timers - services @@ -287,6 +289,7 @@ Figure 10: Trigger condition ANY Trigger condition ONE Figure 11: Trigger condition ONE +
Trigger condition user-defined Figure 12: Trigger condition user-defined @@ -320,7 +323,7 @@ Additionally we have implemented the current rclcpp Executor semantics ("RCLCPP" The selection of the Executor semantics is optional. The default semantics is "RCLCPP". ### Executor API -The API of the RCLC-Executor can be divided in two phases: Configuration and Running. +The API of the rclc Executor can be divided in two phases: Configuration and Running. #### Configuration phase During the configuration phase, the user shall define: - the total number of callbacks @@ -328,7 +331,7 @@ During the configuration phase, the user shall define: - trigger condition (optional, default: ANY) - data communcation semantics (optional, default ROS2) -As the Executor is intended for embedded controllers, dynamic memory management is crucial. Therefore at initialization of the RCLC-Executor, the user defines the total number of callbacks. The necessary dynamic memory will be allocated only in this phase and no more memory in the running phase. This makes this Executor static in the sense, that during runtime no additional callbacks can be added. +As the Executor is intended for embedded controllers, dynamic memory management is crucial. Therefore at initialization of the rclc Executor, the user defines the total number of callbacks. The necessary dynamic memory will be allocated only in this phase and no more memory in the running phase. This makes this Executor static in the sense, that during runtime no additional callbacks can be added. Then, the user adds handles and the corresponding callbacks (e.g. for subscriptions and timers) to the Executor. The order in which this takes place, defines later the sequential processing order during runtime. @@ -360,7 +363,7 @@ Available spin functions are - `spin` - spin indefinitly ### Examples -We provide the relevant code snippets how to setup the RCLC-Executor for the embedded use case and for the software design patterns in mobile robotics applications as described above. +We provide the relevant code snippets how to setup the rclc Executor for the embedded use case and for the software design patterns in mobile robotics applications as described above. #### Embedded use-case With seqential execution the co-operative scheduling of tasks within a process can be modeled. The trigger condition is used to periodically activate the process which will then execute all callbacks in a pre-defined order. Data will be communicated using the LET-semantics. Every Executor is executed in its own tread, to which an appropriate priority can be assigned. @@ -522,8 +525,12 @@ rclc_executor_set_trigger(&exe, rclc_executor_trigger_one, &sense_Laser); // spin rclc_executor_spin(&exe); ``` +#### ROS 2 Executor Workshop Reference System +The rclc Executor has been presented at the workshop 'ROS~2 Executor: How to make it efficient, real-time and deterministic?' at [ROS World 2021](https://roscon.ros.org/world/2021/) (i.e. the online version of ROSCon)[[S2021](#S2021)]. A [Reference System](https://github.com/ros-realtime/reference-system) for testing and benchmarking ROS Executors has been developed for this workshop. The application of the rclc Executor on the reference system with the trigger condition can be found in the [rclc-executor branch of the Reference System](https://github.com/ros-realtime/reference-system/tree/rclc_executor). + +The slides can be downloaded [here](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4.filesusr.com/ugd/984e93_749e27b917a54b45b9ccb5be930841b8.pdf). All information and the videos and slides of the other talks of the workshop can be found at [www.apex.ai/roscon-21](https://www.apex.ai/roscon-21). ### Future work @@ -531,9 +538,10 @@ rclc_executor_spin(&exe); - one publisher that periodically publishes - if Executors are running in multiple threads, publishing needs to be atomic +- Multi-threaded executor with assignment of scheduling policies of unerlying operating system. [Pull Request](https://github.com/ros2/rclc/pull/87) pre-print [SLD2021](#SLD2021). ### Download -The RCLC-Executor can be downloaded from the [micro-ROS rclc repository](https://github.com/ros2/rclc). In this repository, the [rclc package](https://github.com/ros2/rclc/tree/master/rclc) provides the RCLC-Executor and the [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) provides several demos. Further more, the rclc Executor is also available from the [ros2/rclc repository](https://github.com/ros2/rclc). +The rclc Executor can be downloaded from the [micro-ROS rclc repository](https://github.com/ros2/rclc). In this repository, the [rclc package](https://github.com/ros2/rclc/tree/master/rclc) provides the rclc Executor and the [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) provides several demos. Further more, the rclc Executor is also available from the [ros2/rclc repository](https://github.com/ros2/rclc). @@ -672,6 +680,10 @@ URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8376277&isnumber=83 ## References +* [SLD2021] J. Staschulat, R. Lange and D. N. Dasari, "Budget-based real-time Executor for Micro-ROS", arXiv Pre-Print, May 2021. [[paper](https://arxiv.org/abs/2105.05590)] + +* [S2021] J. Staschulat, "Micro-ROS: The rclc Executor", ROS 2 Executor: How to make it efficient, real-time and deterministic?, ROS World 2021, [[slides](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4.filesusr.com/ugd/984e93_749e27b917a54b45b9ccb5be930841b8.pdf)] [[recorded presentation](https://www.youtube.com/embed/IazrPF3RN1U)] + * [L2020] Ralph Lange: Advanced Execution Management with ROS 2, ROS-Industrial Conference, Dec 2020 [[Slides]](https://micro-ros.github.io/download/2020-12-16_Advanced_Execution_Management_with_ROS_2.pdf) * [SLL2020] J. Staschulat, I. Lütkebohle and R. Lange, "The rclc Executor: Domain-specific deterministic scheduling mechanisms for ROS applications on microcontrollers: work-in-progress," 2020 International Conference on Embedded Software (EMSOFT), Singapore, Singapore, 2020, pp. 18-19. [[Paper]](https://ieeexplore.ieee.org/document/9244014) [[Video]](https://whova.com/embedded/session/eswe_202009/1145800/) @@ -691,7 +703,8 @@ URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8376277&isnumber=83 * [NSP2018] A. Naderlinger, S. Resmerita, and W. Pree: LET for Legacy and Model-based Applications, Proceedings of The Logical Execution Time Paradigm: New Perspectives for Multicore Systems (Dagstuhl Seminar 18092), Wadern, Germany, February 2018. -* [KZH2015] S. Kramer, D. Ziegenbein, and A. Hamann: Real World Automotive Benchmarks For Free, International Workshop on Analysis Tools and Methodologies for Embedded adn Real-Time Sysems (WATERS), 2015.[[Paper]](https://www.ecrts.org/forum/download/file.php?id=9&sid=efda71c95b6afdd240d72cc1e491bb8b) +* [KZH2015] S. Kramer, D. Ziegenbein, and A. Hamann: Real World Automotive Benchmarks For Free, International Workshop on Analysis Tools and Methodologies for Embedded adn Real-Time Sysems (WATERS), 2015. + ## Acknowledgments This activity has received funding from the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation programme (grant agreement n° 780785). From 159cc444004ebc67d3c94cba238749c9d67da64c Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Tue, 14 Dec 2021 16:31:05 +0100 Subject: [PATCH 03/27] typos --- .../client_library/execution_management/index.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 0483c10c..5f0d09dc 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -239,11 +239,11 @@ The need for the processing patterns, as described in the previous section, are Real-time requirements in embedded applications are typically met using real-time scheduling. The most common is the periodic scheduling policy, in which all functions are mapped to pre-defined periods, e.g., *1 ms*, *10 ms* or *100 ms*. This scheduling policy is well supported by all real-time operating systems and formal performance analysis approaches have been well known for decades. -In contrast, ROS~2 follows an event-driven approach. Messages are communicated between nodes using the publish and subscribe paradigm. It is the responsibility of an Executor to react upon new messages. In detail, this Executor coordinates the execution of callbacks issued by the participating nodes by checking the incoming messages from the DDS queue and dispatching them to the underlying threads for execution. Currently, the dispatching mechanism is very basic: the Executor looks up wait queues, which notifies it of any pending messages in the DDS queue. +In contrast, ROS 2 follows an event-driven approach. Messages are communicated between nodes using the publish and subscribe paradigm. It is the responsibility of an Executor to react upon new messages. In detail, this Executor coordinates the execution of callbacks issued by the participating nodes by checking the incoming messages from the DDS queue and dispatching them to the underlying threads for execution. Currently, the dispatching mechanism is very basic: the Executor looks up wait queues, which notifies it of any pending messages in the DDS queue. -If there are pending messages, the Executor executes the corresponding callbacks one after the other, which is also called round-robin to completion. In addition, the Executor also checks for events from application-level timers, which are always processed before messages. There is no further notion of prioritization or categorization of these callback calls. Moreover, the ROS~2 Executor from rclcpp in its current form does not leverage the real-time capabilities of the underlying operating system scheduler to have finer control on the execution order. The overall implication of this behavior is that time-critical callbacks could suffer possible deadline misses and degraded performance since they are serviced later than non-critical callbacks. Additionally, due to the round-robin mechanism and the resulting dependencies it causes on the execution time, it is difficult to determine usable bounds on the worst-case latency that each callback execution may incur [[CB2019](#CB2019)]. +If there are pending messages, the Executor executes the corresponding callbacks one after the other, which is also called round-robin to completion. In addition, the Executor also checks for events from application-level timers, which are always processed before messages. There is no further notion of prioritization or categorization of these callback calls. Moreover, the ROS 2 Executor from rclcpp in its current form does not leverage the real-time capabilities of the underlying operating system scheduler to have finer control on the execution order. The overall implication of this behavior is that time-critical callbacks could suffer possible deadline misses and degraded performance since they are serviced later than non-critical callbacks. Additionally, due to the round-robin mechanism and the resulting dependencies it causes on the execution time, it is difficult to determine usable bounds on the worst-case latency that each callback execution may incur [[CB2019](#CB2019)]. -To address the aforementioned common processing patterns found in robotic applications with the event-driven ROS~2 execution scheme, we have developed a very flexible approach in micro-ROS named *rclc Executor* [[SLL2020](#SLL2020)]. +To address the aforementioned common processing patterns found in robotic applications with the event-driven ROS 2 execution scheme, we have developed a very flexible approach in micro-ROS named *rclc Executor* [[SLL2020](#SLL2020)]. It supports three main features: First, a *trigger condition* allows to define when the processing of a callback shall start. This is useful to implement sense-plan-act control loops or more complex processing structures with directed acyclic graphs. Second, a user can specify the *processing order* in which these callbacks will be executed. With this feature, the pattern of sensor fusion with multiple rates, in which data is requested from a sensor based on the arrival of some other sensor, can be easily implemented. Third, the rclc Executor allows to set scheduling parameters (e.g., priorities) of the underlying operating system. With this feature, prioritized processing can be implemented. Third, for periodic applications, the *LET Semantics* has been implemented. @@ -256,7 +256,7 @@ Based on the real-time embedded use-case as well as the processing patterns in m These features are now described in more detail. -The rclc Executor supports all event types as the default ROS~2 Executor, which are: +The rclc Executor supports all event types as the default ROS 2 Executor, which are: - subscriptions - timers - services @@ -526,7 +526,7 @@ rclc_executor_set_trigger(&exe, rclc_executor_trigger_one, &sense_Laser); rclc_executor_spin(&exe); ``` #### ROS 2 Executor Workshop Reference System -The rclc Executor has been presented at the workshop 'ROS~2 Executor: How to make it efficient, real-time and deterministic?' at [ROS World 2021](https://roscon.ros.org/world/2021/) (i.e. the online version of ROSCon)[[S2021](#S2021)]. A [Reference System](https://github.com/ros-realtime/reference-system) for testing and benchmarking ROS Executors has been developed for this workshop. The application of the rclc Executor on the reference system with the trigger condition can be found in the [rclc-executor branch of the Reference System](https://github.com/ros-realtime/reference-system/tree/rclc_executor). +The rclc Executor has been presented at the workshop 'ROS 2 Executor: How to make it efficient, real-time and deterministic?' at [ROS World 2021](https://roscon.ros.org/world/2021/) (i.e. the online version of ROSCon)[[S2021](#S2021)]. A [Reference System](https://github.com/ros-realtime/reference-system) for testing and benchmarking ROS Executors has been developed for this workshop. The application of the rclc Executor on the reference system with the trigger condition can be found in the [rclc-executor branch of the Reference System](https://github.com/ros-realtime/reference-system/tree/rclc_executor). From 6582fad6a1d431f490148597e92600471878fbaf Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Tue, 14 Dec 2021 16:35:32 +0100 Subject: [PATCH 04/27] re-ordered references in chronological order --- .../execution_management/index.md | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 5f0d09dc..09911c1b 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -44,6 +44,7 @@ redirect_from: * [Test Bench](#test-bench) * [Related Work](#related-work) + * [Fawkes Framework](#fawkes-framework) * [References](#references) * [Acknowledgments](#acknowledgments) @@ -679,31 +680,30 @@ URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8376277&isnumber=83 ## References +* [S2021] J. Staschulat, "Micro-ROS: The rclc Executor", ROS 2 Executor: How to make it efficient, real-time and deterministic?, ROS World, Oct. 2021, [[slides](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4.filesusr.com/ugd/984e93_749e27b917a54b45b9ccb5be930841b8.pdf)] [[recorded presentation](https://www.youtube.com/embed/IazrPF3RN1U)] * [SLD2021] J. Staschulat, R. Lange and D. N. Dasari, "Budget-based real-time Executor for Micro-ROS", arXiv Pre-Print, May 2021. [[paper](https://arxiv.org/abs/2105.05590)] -* [S2021] J. Staschulat, "Micro-ROS: The rclc Executor", ROS 2 Executor: How to make it efficient, real-time and deterministic?, ROS World 2021, [[slides](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4.filesusr.com/ugd/984e93_749e27b917a54b45b9ccb5be930841b8.pdf)] [[recorded presentation](https://www.youtube.com/embed/IazrPF3RN1U)] - * [L2020] Ralph Lange: Advanced Execution Management with ROS 2, ROS-Industrial Conference, Dec 2020 [[Slides]](https://micro-ros.github.io/download/2020-12-16_Advanced_Execution_Management_with_ROS_2.pdf) * [SLL2020] J. Staschulat, I. Lütkebohle and R. Lange, "The rclc Executor: Domain-specific deterministic scheduling mechanisms for ROS applications on microcontrollers: work-in-progress," 2020 International Conference on Embedded Software (EMSOFT), Singapore, Singapore, 2020, pp. 18-19. [[Paper]](https://ieeexplore.ieee.org/document/9244014) [[Video]](https://whova.com/embedded/session/eswe_202009/1145800/) -* [L2018] Ralph Lange: Callback-group-level Executor for ROS 2. Lightning talk at ROSCon 2018. Madrid, Spain. Sep 2018. [[Slides]](https://roscon.ros.org/2018/presentations/ROSCon2018_Lightning1_4.pdf) [[Video]](https://vimeo.com/292707644) - * [CB2019] D. Casini, T. Blaß, I. Lütkebohle, B. Brandenburg: Response-Time Analysis of ROS 2 Processing Chains under Reservation-Based Scheduling, in Euromicro-Conference on Real-Time Systems 2019. [[Paper]](http://drops.dagstuhl.de/opus/volltexte/2019/10743/) [[slides]](https://t-blass.de/talks/ECRTS2019.pdf) +* [L2018] Ralph Lange: Callback-group-level Executor for ROS 2. Lightning talk at ROSCon 2018. Madrid, Spain. Sep 2018. [[Slides]](https://roscon.ros.org/2018/presentations/ROSCon2018_Lightning1_4.pdf) [[Video]](https://vimeo.com/292707644) + * [EK2018] R. Ernst, S. Kuntz, S. Quinton, M. Simons: The Logical Execution Time Paradigm: New Perspectives for Multicore Systems, February 25-28 2018 (Dagstuhl Seminar 18092). [[Paper]](http://drops.dagstuhl.de/opus/volltexte/2018/9293/pdf/dagrep_v008_i002_p122_18092.pdf) +* [NSP2018] A. Naderlinger, S. Resmerita, and W. Pree: LET for Legacy and Model-based Applications, +Proceedings of The Logical Execution Time Paradigm: New Perspectives for Multicore Systems (Dagstuhl Seminar 18092), Wadern, Germany, February 2018. + * [BP2017] A. Biondi, P. Pazzaglia, A. Balsini, M. D. Natale: Logical Execution Time Implementation and Memory Optimization Issues in AUTOSAR Applications for Multicores, International Worshop on Analysis Tools and Methodologies for Embedded and Real-Time Systems (WATERS2017), Dubrovnik, Croatia.[[Paper]](https://pdfs.semanticscholar.org/4a9e/b9a616c25fd0b4a4f7810924e73eee0e7515.pdf) -* [LL1973] Liu, C. L.; Layland, J.:Scheduling algorithms for multiprogramming in a hard real-time environment, Journal of the ACM, 20 (1): 46–61, 1973. +* [KZH2015] S. Kramer, D. Ziegenbein, and A. Hamann: Real World Automotive Benchmarks For Free, International Workshop on Analysis Tools and Methodologies for Embedded adn Real-Time Sysems (WATERS), 2015. * [HHK2001] Henzinger T.A., Horowitz B., Kirsch C.M. (2001) Giotto: A Time-Triggered Language for Embedded Programming. In: Henzinger T.A., Kirsch C.M. (eds) Embedded Software. EMSOFT 2001. Lecture Notes in Computer Science, vol 2211. Springer, Berlin, Heidelberg -* [NSP2018] A. Naderlinger, S. Resmerita, and W. Pree: LET for Legacy and Model-based Applications, -Proceedings of The Logical Execution Time Paradigm: New Perspectives for Multicore Systems (Dagstuhl Seminar 18092), Wadern, Germany, February 2018. - -* [KZH2015] S. Kramer, D. Ziegenbein, and A. Hamann: Real World Automotive Benchmarks For Free, International Workshop on Analysis Tools and Methodologies for Embedded adn Real-Time Sysems (WATERS), 2015. +* [LL1973] Liu, C. L.; Layland, J.:Scheduling algorithms for multiprogramming in a hard real-time environment, Journal of the ACM, 20 (1): 46–61, 1973. ## Acknowledgments From 82d184c61e593281bd0b9f32507e54365e0e83be Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Tue, 14 Dec 2021 16:43:45 +0100 Subject: [PATCH 05/27] fixing links to ros2/rclc repo --- _docs/concepts/client_library/execution_management/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 09911c1b..9eaca8bb 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -542,7 +542,7 @@ The slides can be downloaded [here](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4 - Multi-threaded executor with assignment of scheduling policies of unerlying operating system. [Pull Request](https://github.com/ros2/rclc/pull/87) pre-print [SLD2021](#SLD2021). ### Download -The rclc Executor can be downloaded from the [micro-ROS rclc repository](https://github.com/ros2/rclc). In this repository, the [rclc package](https://github.com/ros2/rclc/tree/master/rclc) provides the rclc Executor and the [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) provides several demos. Further more, the rclc Executor is also available from the [ros2/rclc repository](https://github.com/ros2/rclc). +The rclc Executor can be downloaded from the [ros2/rclc repository](https://github.com/ros2/rclc). It is available for the ROS 2 versions Foxy, Galactic and Rolling. The repository provides several packages including the [rclc Executor](https://github.com/ros2/rclc/tree/master/rclc) and an [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) with several application examples. From 981b9778269191f5a58e688d21d15999897597ac Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Wed, 15 Dec 2021 12:01:25 +0100 Subject: [PATCH 06/27] added figures for trigger condition --- .../execution_management/index.md | 51 ++++++++++--------- 1 file changed, 28 insertions(+), 23 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 9eaca8bb..7310f1fd 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -266,48 +266,55 @@ The rclc Executor supports all event types as the default ROS 2 Executor, which - actions - lifecycle +#### Sequential execution + +- At configuration, the user defines the order of handles. +- At configuration, the user defines whether the handle shall be called only when new data is available (ON_NEW_DATA) or whether the callback shall always be called (ALWAYS). +- At runtime, all handles are processed in the user-defined order + - if the configuration of handle is ON_NEW_DATA, then the corresponding callback is only called if new data is available + - if the configuration of the handle is ALWAYS, then the corresponding callback is always. If no data is available, then the callback is called with no data (e.g. NULL pointer). + +Figure 9 shows three callbacks, A, B and C. Assume, they shall be executed in the order *B,A,C*. Then the user adds the callbacks to the rclc Executor in this order. Whenever new messages have arrived then the callbacks for which a new message is availabe will be always executed in the user-defined processing order. +
+Sequential execution semantics +Figure 9: Sequential execution semantics. +
+ #### Trigger condition - Given a set of handles, a trigger condition, which is based on the availability of input data of these handles, decides when the processing of all callbacks starts. - Available options: - ALL operation: fires when input data is available for all handles - - ANY operation: fires when input data is available for at least one handle + - ANY operation: fires when input data is available for at least one handle (OR semantics) - ONE: fires when input data for a user-specified handle is available - - User-defined function: user can implement more sophisticated logic + - User-defined function: user can implement custom logic +Figure 10 shows an example of the ALL semantics. Only if all messages *msg_A, msg_B, msg_C* were received, then trigger condition is fullfilled and the callbacks are processed in a user-defined order.
-Trigger condition ALL -Figure 9: Trigger condition ALL +Trigger condition ALL +Figure 10: Trigger condition ALL
+Figure 11 shows an example of the ANY semantics. Thas is, if any messages *msg_A, msg_B, msg_C* was received, then trigger condition is fullfilled and the callbacks are processed in a user-defined order. This is equivalent to OR semantics.
-Trigger condition ANY -Figure 10: Trigger condition ANY +Trigger condition ANY +Figure 11: Trigger condition ANY (OR)
+Figure 12 shows an example of the ONE semantics. Thas is, only if message *msg_B* was received, the trigger condition is fullfilled and (potentially all) callbacks are processed in a user-defined order.
-Trigger condition ONE -Figure 11: Trigger condition ONE +Trigger condition ONE +Figure 12: Trigger condition ONE
+Figure 13 describes the custom semantics. A custom trigger condition with could be a more complex logic of multiple messages, can be passed to the executor. This might also include hardware triggers, like interrupts.
-Trigger condition user-defined -Figure 12: Trigger condition user-defined +Trigger condition user-defined +Figure 13: Trigger condition user-defined
-#### Sequential execution -- At configuration, the user defines the order of handles. -- At configuration, the user defines whether the handle shall be called only when new data is available (ON_NEW_DATA) or whether the callback shall always be called (ALWAYS). -- At runtime, all handles are processed in the user-defined order - - if the configuration of handle is ON_NEW_DATA, then the corresponding callback is only called if new data is available - - if the configuration of the handle is ALWAYS, then the corresponding callback is always. If no data is available, then the callback is called with no data (e.g. NULL pointer). - -
-Sequential execution semantics -Figure 13: Sequential execution semantics. -
#### LET-Semantics - Assumption: time-triggered system, the executor is activated periodically @@ -544,8 +551,6 @@ The slides can be downloaded [here](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4 ### Download The rclc Executor can be downloaded from the [ros2/rclc repository](https://github.com/ros2/rclc). It is available for the ROS 2 versions Foxy, Galactic and Rolling. The repository provides several packages including the [rclc Executor](https://github.com/ros2/rclc/tree/master/rclc) and an [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) with several application examples. - - ## Callback-group-level Executor The Callback-group-level Executor was an early prototype for a refined rclcpp Executor API developed in micro-ROS. It has been derived from the default rclcpp Executor and addresses some of the aforementioned deficits. Most important, it was used to validate that the underlying layers (rcl, rmw, rmw_adapter, DDS) allow for multiple Executor instances without any negative interferences. From 078645241ca623fdaa3fcd9032c1d8b6c1d5c63e Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Wed, 15 Dec 2021 15:54:43 +0100 Subject: [PATCH 07/27] moved all png to sub-folder /png, centering all png figures. --- .../cbg-executor_sample_system.png | Bin 47865 -> 0 bytes .../cbg-executor_test-bench_architecture.png | Bin 70868 -> 0 bytes .../cbg-executor_test-bench_results.png | Bin 31855 -> 0 bytes .../cbg_executor_demo_plot.png | Bin 57004 -> 0 bytes .../executor_class_diagram.png | Bin 29837 -> 0 bytes .../executor_to_dds_sequence_diagram.png | Bin 32882 -> 0 bytes .../fawkes_executor_diagram.png | Bin 913893 -> 0 bytes .../execution_management/index.md | 63 +++++++++++++++--- .../meta-executor_concept.png | Bin 62267 -> 0 bytes .../meta-executor_concept.pptx | Bin 69399 -> 0 bytes .../ping_pong_diagram.png | Bin 88964 -> 0 bytes 11 files changed, 55 insertions(+), 8 deletions(-) delete mode 100644 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a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -90,13 +90,17 @@ The dispatching mechanism resembles the ROS 1 spin thread behavior: the Executor The following diagram depicts the relevant classes of the standard ROS 2 Executor implementation: -![ROS 2 Executor class diagram](executor_class_diagram.png) +
+ROS 2 Executor class diagram +
Note that an Executor instance maintains weak pointers to the NodeBaseInterfaces of the nodes only. Therefore, nodes can be destroyed safely, without notifying the Executor. Also, the Executor does not maintain an explicit callback queue, but relies on the queue mechanism of the underlying DDS implementation as illustrated in the following sequence diagram: -![Call sequence from executor to DDS](executor_to_dds_sequence_diagram.png) +
+Call sequence from executor to DDS +
The Executor concept, however, does not provide means for prioritization or categorization of the incoming callback calls. Moreover, it does not leverage the real-time characteristics of the underlying operating-system scheduler to have finer control on the order of executions. The overall implication of this behavior is that time-critical callbacks could suffer possible deadline misses and a degraded performance since they are serviced later than non-critical callbacks. Additionally, due to the FIFO mechanism, it is difficult to determine usable bounds on the worst-case latency that each callback execution may incur. @@ -118,6 +122,8 @@ In embedded systems, real-time behavior is approached by using the time-triggere
Schedule with fixed periods +
+
Figure 1: Fixed periodic preemptive scheduling.
@@ -125,6 +131,8 @@ To each process one or multiple tasks can be assigned, as shown in Figure 2. The
Schedule with fixed periods +
+
Figure 2: Processes with sequentially executed tasks.
@@ -137,6 +145,8 @@ However, data consistency is often an issue when preemptive scheduling is used a
Schedule with fixed periods +
+
Figure 3: Data communication without and with Logical Execution Time paradigm.
@@ -166,6 +176,8 @@ A common design paradigm in mobile robotics is a control loop, consisting of sev
Sense Plan Act Pipeline +
+
Figure 4: Multiple sensors driving a Sense-Plan-Act pipeline.
@@ -186,6 +198,8 @@ Often multiple sensors are being used to sense the environment for mobile roboti
Sychronization of multiple rates +
+
Figure 5: How to deterministically process multi-frequent sensor data.
@@ -197,6 +211,8 @@ An Alternative would be to evalute the IMU sample and the laser scan by synchron
Sychnronization with a trigger +
+
Figure 6: Synchronization of multiple input data with a trigger.
@@ -207,6 +223,8 @@ Another idea would be to activly request for IMU data only when a laser scan is
Sychronization with sequence +
+
Figure 7: Synchronization with sequential processing.
@@ -221,6 +239,8 @@ Often a robot has to fullfill several activities at the same time. For example f
HighPriorityPath +
+
Figure 8: Managing high priority path with sequential order.
@@ -276,13 +296,22 @@ The rclc Executor supports all event types as the default ROS 2 Executor, which Figure 9 shows three callbacks, A, B and C. Assume, they shall be executed in the order *B,A,C*. Then the user adds the callbacks to the rclc Executor in this order. Whenever new messages have arrived then the callbacks for which a new message is availabe will be always executed in the user-defined processing order.
-Sequential execution semantics +Sequential execution semantics +
+
Figure 9: Sequential execution semantics.
#### Trigger condition -- Given a set of handles, a trigger condition, which is based on the availability of input data of these handles, decides when the processing of all callbacks starts. +- Given a set of handles, a trigger condition, which is based on the availability of input data of these handles, decides when the processing of all callbacks starts. This is shown in Figure 10. + +
+Trigger condition overview +
+
+Figure 10: Executor with trigger condition +
- Available options: - ALL operation: fires when input data is available for all handles @@ -293,24 +322,32 @@ Figure 9: Sequential execution semantics. Figure 10 shows an example of the ALL semantics. Only if all messages *msg_A, msg_B, msg_C* were received, then trigger condition is fullfilled and the callbacks are processed in a user-defined order.
Trigger condition ALL +
+
Figure 10: Trigger condition ALL
Figure 11 shows an example of the ANY semantics. Thas is, if any messages *msg_A, msg_B, msg_C* was received, then trigger condition is fullfilled and the callbacks are processed in a user-defined order. This is equivalent to OR semantics.
Trigger condition ANY +
+
Figure 11: Trigger condition ANY (OR)
Figure 12 shows an example of the ONE semantics. Thas is, only if message *msg_B* was received, the trigger condition is fullfilled and (potentially all) callbacks are processed in a user-defined order.
Trigger condition ONE +
+
Figure 12: Trigger condition ONE
Figure 13 describes the custom semantics. A custom trigger condition with could be a more complex logic of multiple messages, can be passed to the executor. This might also include hardware triggers, like interrupts.
Trigger condition user-defined +
+
Figure 13: Trigger condition user-defined
@@ -561,7 +598,9 @@ Thus, an Executor instance can be dedicated to specific callback group(s) and th The following figure illustrates this approach with two nodes served by three Callback-group-level Executors in one process: -![Sample system with two nodes and three Callback-group-level Executors in one process](cbg-executor_sample_system.png) +
+Sample system with two nodes and three Callback-group-level Executors in one process +
The different callbacks of the Drive-Base node are distributed to different Executors (visualized by the color red, yellow and green). For example the onCmdVel and publishWheelTicks callback are scheduled by the same Executor (yellow). Callbacks from different nodes can be serviced by the same Executor. @@ -592,10 +631,16 @@ The callback-group-level executor has been merged into ROS 2 rclcpp in [pull req As a proof of concept, we implemented a small test bench in the present package cbg-executor_ping-pong_cpp. The test bench comprises a Ping node and a Pong node which exchange real-time and best-effort messages simultaneously with each other. Each class of messages is handled with a dedicated Executor, as illustrated in the following figure. -![Architecture for the Callback-group-level Executor test bench](ping_pong_diagram.png) +
+Architecture for the Callback-group-level Executor test bench +
+ With the test bench, we validated the functioning of the approach. -![Results from Callback-group-level Executor test bench](cbg_executor_demo_plot.png) +
+Results from Callback-group-level Executor test bench +
+ In this example, the callback for the high priority task (red line) consumes 10ms and the low priority task (blue line) 40ms in the Pong Node. With a ping rate of 20 Hz, the CPU saturates (10ms\*20+40ms\*20=1000ms). With higher frequencies the high priorty task can continue to send its pong message, while the low priority pong task degrades. With a frequency of 100Hz the high priority task requires 100% CPU utilization. With higher ping rates it keeps sending pong messages with 100Hz, while the low priority task does not get any CPU ressources any more and cannot send any messages. The test bench is provided in the [cbg_executor_demo](https://github.com/boschresearch/ros2_demos/tree/cbg_executor_demo/cbg_executor_demo). @@ -647,7 +692,9 @@ A module (thread) can be configured independent of these sense-plan-act synchron The high level overview of the Fawkes framework is shown in the next figure. At compile-time the configuration of the sense-plan act wakeup hook is done (upper part), while at run-time the scheduler iterates through this list of wakeup-hooks (lower part): -![Sequence diagram for Executor concept in Fawkes](fawkes_executor_diagram.png) +
+Sequence diagram for Fawkes Executor +
Hence, at run-time, the hooks are executed as a fixed static schedule without preemption. 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zN?deuu_p~Lz@mEq7&rhSTC?F=-~Rm}9o;ZL(yuF_uq?c&xp{um)pw_xmcqjX(V~uX z?OJbdZ#iSJyI_r!GRt}hkjxwJv*U)m<^wct~W4>rKsJ#K& zx9jTGW@vt>HXCjt0)p<%aa-=>2?qo@GHuZ9&tfO^4Ro{>_(jA)ES?U!j*iagO!#Tj z8&w?{xvd3)mB`~xBE#$6mL?|DJw^x%@sde^LEa0K4ru-Kv=zP9zwYe>A7Zf!PD-Ah z^ZPtJ|l*<2H92f%g=IBN|GPNpT7J*>@Zrz From ee4470b120745ee1d547e036bb6118feba80e075 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Wed, 15 Dec 2021 15:55:33 +0100 Subject: [PATCH 08/27] added png files in /png subfolders to git --- .../png/cbg-executor_sample_system.png | Bin 0 -> 47865 bytes .../cbg-executor_test-bench_architecture.png | Bin 0 -> 70868 bytes .../png/cbg-executor_test-bench_results.png | Bin 0 -> 31855 bytes .../png/cbg_executor_demo_plot.png | Bin 0 -> 57004 bytes .../png/executor_class_diagram.png | Bin 0 -> 29837 bytes .../png/executor_to_dds_sequence_diagram.png | Bin 0 -> 32882 bytes .../png/fawkes_executor_diagram.png | Bin 0 -> 913893 bytes .../png/meta-executor_concept.png | Bin 0 -> 62267 bytes 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Trigger condition ALL
-Figure 10: Trigger condition ALL +Figure 11: Trigger condition ALL
-Figure 11 shows an example of the ANY semantics. Thas is, if any messages *msg_A, msg_B, msg_C* was received, then trigger condition is fullfilled and the callbacks are processed in a user-defined order. This is equivalent to OR semantics. +Figure 12 shows an example of the ANY semantics. Thas is, if any messages *msg_A, msg_B, msg_C* was received, then trigger condition is fullfilled and the callbacks are processed in a user-defined order. This is equivalent to OR semantics.
Trigger condition ANY
-Figure 11: Trigger condition ANY (OR) +Figure 12: Trigger condition ANY (OR)
-Figure 12 shows an example of the ONE semantics. Thas is, only if message *msg_B* was received, the trigger condition is fullfilled and (potentially all) callbacks are processed in a user-defined order. +Figure 13 shows an example of the ONE semantics. Thas is, only if message *msg_B* was received, the trigger condition is fullfilled and (potentially all) callbacks are processed in a user-defined order.
Trigger condition ONE
-Figure 12: Trigger condition ONE +Figure 13: Trigger condition ONE
-Figure 13 describes the custom semantics. A custom trigger condition with could be a more complex logic of multiple messages, can be passed to the executor. This might also include hardware triggers, like interrupts. +Figure 14 describes the custom semantics. A custom trigger condition with could be a more complex logic of multiple messages, can be passed to the executor. This might also include hardware triggers, like interrupts.
Trigger condition user-defined
-Figure 13: Trigger condition user-defined +Figure 14: Trigger condition user-defined
From 7dc57570f2d834c646597932adecb4a0d1dbba02 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Wed, 15 Dec 2021 16:10:49 +0100 Subject: [PATCH 10/27] fixed typo --- _docs/concepts/client_library/execution_management/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 2b635c0b..5f45e4b1 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -583,7 +583,7 @@ The slides can be downloaded [here](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4 - one publisher that periodically publishes - if Executors are running in multiple threads, publishing needs to be atomic -- Multi-threaded executor with assignment of scheduling policies of unerlying operating system. [Pull Request](https://github.com/ros2/rclc/pull/87) pre-print [SLD2021](#SLD2021). +- Multi-threaded executor with assignment of scheduling policies of unerlying operating system. [[Pull Request](https://github.com/ros2/rclc/pull/87), pre-print [SLD2021](#SLD2021)]. ### Download The rclc Executor can be downloaded from the [ros2/rclc repository](https://github.com/ros2/rclc). It is available for the ROS 2 versions Foxy, Galactic and Rolling. The repository provides several packages including the [rclc Executor](https://github.com/ros2/rclc/tree/master/rclc) and an [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) with several application examples. From a76a6d1db480c4b8b8789a2d67e57fefa7dc41bc Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 10:03:24 +0100 Subject: [PATCH 11/27] review Ralph (1): updated introduction --- .../concepts/client_library/execution_management/index.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 5f45e4b1..6c20bbaf 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -72,11 +72,12 @@ Given the goals for a Real-Time Executor and the limitations of the ROS 2 standa - to model requirements (like latencies, determinism in subsystems) - mapping of ROS framework and OS scheduler (semi-automated and optimized mapping is desired as well as generic, well-understood framework mechanisms) -Our approach is to provide Real-Time Executors on two layers as described in section [Introduction to Client Library](../). One based on the rcl-layer written in C programming language and one based on rclcpp written in C++. +Our approach is to provide a Real-Time Executor on the rcl-layer (as described in section [Introduction to Client Library](../).) in C programming language . -As the first step, we propose the LET-Executor for the rcl-layer in C, which implements static order scheduling policy with logic execution time semantics. In this scheduling policy, all callbacks are executed in a pre-defined order. Logical execution time refers to the concept, that first input data is read before tasks are executed. Secondly, we developed a Callback-group-level Executor, which allows to prioritize a group of callbacks. These approaches are based on the concept of Executors, which have been introduced in ROS 2. +As the first step, we propose the rclc Executor for the rcl-layer in C with several features to support real-time and deterministic execution: It supports 1.) static sequential execution, 2) conditional execution and 3) logical execution semantics (LET). Sequential execution refers to the runtime behavior, that all callbacks are executed in a pre-defined order independent of the arrival time of messages. Conditional execution is available with a trigger condition which enables typical processing patterns in robotics (which are analyzed in detail in section [Analysis of processing patterns](#analysis-of-processing-patterns). The logical execution time concept provides data consistency for fixed periodic task scheduling, which is often used in embedded real-time applications. + +Beyond the advanced execution management mechanisms for micro-ROS, we also contributed to improving and extending the Executor concept in rclcpp for standard ROS 2: the callback group-level Executor. It is not a new Executor but rather a refinement of the API allowing to prioritize a group of callbacks which is not possible with the ROS 2 default Executor in its current Galactic release. -In the future, we plan to provide other Real-Time Executors for the rcl- and rclcpp-layer. ## Analysis of rclcpp standard Executor From 0fcbf0fe562b6d6beb642bd6e2c65e0b43f032c3 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 10:35:46 +0100 Subject: [PATCH 12/27] removed motivation in section 'rclc Executor', added paragraph on multi-threaded executor. --- .../execution_management/index.md | 34 +++++++++---------- 1 file changed, 16 insertions(+), 18 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 6c20bbaf..42175aaa 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -27,6 +27,7 @@ redirect_from: * [Trigger condition](#trigger-condition) * [Sequential execution](#sequential-execution) * [LET-Semantics](#let-semantics) + * [Multi-threading and scheduling configuration](#multi-threading-and-scheduling-configuration) * [Executor API](#executor-api) * [Configuration phase](#configuration-phase) * [Running phase](#running-phase) @@ -252,29 +253,17 @@ Derived requirements: ## rclc Executor -### Executive Summary +The rclc Executor is an Executor based on the rcl-layer in C programming language. As discussed above, the default rclcpp Executor is not suitable to implement real-time applications because of three main reasons: timers are preferred over all other handles, no priorization of callback execution and the round-robin to completion execution of callbacks. On the other hand, several processing patterns have been developed as best practice recipies in robotics to achieve non-functional requirements, such as bounded end-to-end latencies, low jitter of response times of cause-effect chains, deterministic processing, and quick response times even in overload situations. These processing patterns are difficult to implement with the default rclcpp Executor, therefore we have developed a flexible Executor: the rclc Executor. -The rclc Executor is an Executor for C applications and can be used with default rclcpp Executor semantics. If additional deterministic behavior is necessary, the user can rely on pre-defined sequential execution, trigged execution and LET-Semantics for data synchronization. The concept of the rclc Executor has been published in [[SLL2020](#SLL2020)]. - -### Motivation -The need for the processing patterns, as described in the previous section, are often non-functional requirements that a robotic application must met: bounded end-to-end latencies, low jitter of response times of cause-effect chains, deterministic processing, and quick response times even in overload situations. - -Real-time requirements in embedded applications are typically met using real-time scheduling. The most common is the periodic scheduling policy, in which all functions are mapped to pre-defined periods, e.g., *1 ms*, *10 ms* or *100 ms*. This scheduling policy is well supported by all real-time operating systems and formal performance analysis approaches have been well known for decades. - -In contrast, ROS 2 follows an event-driven approach. Messages are communicated between nodes using the publish and subscribe paradigm. It is the responsibility of an Executor to react upon new messages. In detail, this Executor coordinates the execution of callbacks issued by the participating nodes by checking the incoming messages from the DDS queue and dispatching them to the underlying threads for execution. Currently, the dispatching mechanism is very basic: the Executor looks up wait queues, which notifies it of any pending messages in the DDS queue. - -If there are pending messages, the Executor executes the corresponding callbacks one after the other, which is also called round-robin to completion. In addition, the Executor also checks for events from application-level timers, which are always processed before messages. There is no further notion of prioritization or categorization of these callback calls. Moreover, the ROS 2 Executor from rclcpp in its current form does not leverage the real-time capabilities of the underlying operating system scheduler to have finer control on the execution order. The overall implication of this behavior is that time-critical callbacks could suffer possible deadline misses and degraded performance since they are serviced later than non-critical callbacks. Additionally, due to the round-robin mechanism and the resulting dependencies it causes on the execution time, it is difficult to determine usable bounds on the worst-case latency that each callback execution may incur [[CB2019](#CB2019)]. - -To address the aforementioned common processing patterns found in robotic applications with the event-driven ROS 2 execution scheme, we have developed a very flexible approach in micro-ROS named *rclc Executor* [[SLL2020](#SLL2020)]. - -It supports three main features: First, a *trigger condition* allows to define when the processing of a callback shall start. This is useful to implement sense-plan-act control loops or more complex processing structures with directed acyclic graphs. Second, a user can specify the *processing order* in which these callbacks will be executed. With this feature, the pattern of sensor fusion with multiple rates, in which data is requested from a sensor based on the arrival of some other sensor, can be easily implemented. Third, the rclc Executor allows to set scheduling parameters (e.g., priorities) of the underlying operating system. With this feature, prioritized processing can be implemented. Third, for periodic applications, the *LET Semantics* has been implemented. +It supports three main features: First, a *trigger condition* allows to define when the processing of a callback shall start. This is useful to implement sense-plan-act control loops or more complex processing structures with directed acyclic graphs. Second, a user can specify the *processing order* in which these callbacks will be executed. With this feature, the pattern of sensor fusion with multiple rates, in which data is requested from a sensor based on the arrival of some other sensor, can be easily implemented. Third, the rclc Executor allows to set scheduling parameters (e.g., priorities) of the underlying operating system (WIP). With this feature, prioritized processing can be implemented. Third, for periodic applications, the *LET Semantics* has been implemented. ### Features -Based on the real-time embedded use-case as well as the processing patterns in mobile robotics, a flexible Executor with the following main features was developed: +The flexible rclc Executor provides the following main features: - trigger condition to activate processing - user-defined sequential execution of callbacks - data synchronization: LET-semantics or rclcpp Executor semantics +- multi-threading and configuration of operating system scheduling parameters to callbacks These features are now described in more detail. @@ -352,8 +341,6 @@ Figure 14 describes the custom semantics. A custom trigger condition with could Figure 14: Trigger condition user-defined

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Subject: [PATCH 09/27] corrected figure numbering --- .../client_library/execution_management/index.md | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 9f106b42..2b635c0b 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -319,36 +319,36 @@ Figure 10: Executor with trigger condition - ONE: fires when input data for a user-specified handle is available - User-defined function: user can implement custom logic -Figure 10 shows an example of the ALL semantics. Only if all messages *msg_A, msg_B, msg_C* were received, then trigger condition is fullfilled and the callbacks are processed in a user-defined order. +Figure 11 shows an example of the ALL semantics. Only if all messages *msg_A, msg_B, msg_C* were received, then trigger condition is fullfilled and the callbacks are processed in a user-defined order.

- - #### LET-Semantics - Assumption: time-triggered system, the executor is activated periodically - When the trigger fires, reads all input data and makes a local copy @@ -368,6 +355,17 @@ Additionally we have implemented the current rclcpp Executor semantics ("RCLCPP" The selection of the Executor semantics is optional. The default semantics is "RCLCPP". +#### Multi-threading and scheduling configuration + +The rclc Executor has been extended for multi-threading. It supports the assignment of scheduling policies, like priorities or more advanced scheduling algorithms as reservation-based scheduling, to subscription callbacks. [[Pull Request](https://github.com/ros2/rclc/pull/87), Pre-print [SLD2021](#SLD2021)]. The overall architecture is shown in Figure 15. One Executor thread is responsible for checking for new data from the DDS queue. For every callback, a thread is spawned with the dedicted scheduling policy provided by the operating system. The Executor then dispatches new data of a subscription to it's corresponding callback function, which is then executed in its own thread by operating system. + +
+Multi-threaded rclc Executor +
+
+Figure 15: multi-threaded rclc-Executor +
+ ### Executor API The API of the rclc Executor can be divided in two phases: Configuration and Running. #### Configuration phase From 332ffe934c774e7bf099e3a8463d1378c055f848 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 11:18:48 +0100 Subject: [PATCH 13/27] overall review --- .../execution_management/index.md | 65 +++++++++---------- 1 file changed, 29 insertions(+), 36 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 42175aaa..cc6269f2 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -21,8 +21,6 @@ redirect_from: * [Synchronization of multiple rates](#synchronization-of-multiple-rates) * [High-priority processing path](#high-priority-processing-path) * [rclc Executor](#rclc-executor) - * [Executive Summary](#executive-summary) - * [Motivation](#motivation) * [Features](#features) * [Trigger condition](#trigger-condition) * [Sequential execution](#sequential-execution) @@ -54,7 +52,7 @@ redirect_from: Predictable execution under given real-time constraints is a crucial requirement for many robotic applications. While the service-based paradigm of ROS allows a fast integration of many different functionalities, it does not provide sufficient control over the execution management. For example, there are no mechanisms to enforce a certain execution order of callbacks within a node. Also the execution order of multiple nodes is essential for control applications in mobile robotics. Cause-effect-chains comprising of sensor acquisition, evaluation of data and actuation control should be mapped to ROS nodes executed in this order, however there are no explicit mechanisms to enforce it. Furthermore, when input data is collected in field tests, saved with ROS-bags and re-played, often results are different due to non-determinism of process scheduling. -Manually setting up a particular execution order of subscribing and publishing topics in the callbacks or by tweaking the priorities of the corresponding Linux processes is always possible. However, this approach is error-prone, difficult to extend and requires an in-depth knowledge of the deplyed ROS 2 packages in the system. +Manually setting up a particular execution order of subscribing and publishing topics in the callbacks or by tweaking the priorities of the corresponding Linux processes is always possible. However, this approach is error-prone, difficult to extend and requires an in-depth knowledge of the deployed ROS 2 packages in the system. Therefore the goal of the Real-Time Executor is to support roboticists with practical and easy-to-use real-time mechanisms which provide solutions for: - Deterministic execution @@ -63,21 +61,21 @@ Therefore the goal of the Real-Time Executor is to support roboticists with prac - Specific support for RTOS and microcontrollers -In ROS 1 a network thread is responsible for receiving all messages and putting them into a FIFO queue (in roscpp). That is, all callbacks were called in a FIFO manner, without any execution management. With the introduction of DDS (data distribution service) in ROS 2, the messages are buffered in DDS. In ROS 2, an Executor concept was introduced to support execution management, like priorization. At the rcl-layer, a _wait-set_ is configured with handles to be received and in a second step, the handles are taken from the DDS-queue. A handle is a term defined in rcl-layer and summarizes timers, subscriptions, clients and services etc.. +In ROS 1 a network thread is responsible for receiving all messages and putting them into a FIFO queue (in roscpp). That is, all callbacks were called in a FIFO manner, without any execution management. With the introduction of DDS (data distribution service) in ROS 2, the messages are buffered in DDS. In ROS 2, an Executor concept was introduced to support execution management. At the rcl-layer, a _wait-set_ is configured with handles to be received and in a second step, the handles are taken from the DDS-queue. A handle is a generic term defined in rcl-layer for timers, subscriptions, services, clients and guard conditions. -The standard implementation of the ROS 2 Executor for the C++ API (rclcpp) has, however, certain unusual features, like precedence of timers over all other DDS handles, non-preemptive round-robin scheduling for non-timer handles and considering only one input data for each handle (even if multiple could be available). These features have the consequence, that in certain situations the standard rclcpp Executor is not deterministic and it makes proving real-time guarantees hard. We have not looked at the ROS 2 Executor implementation for Python frontend (rclpy) because we consider a micro-controllers platform, on which typically C or C++ appliations will run. +The standard implementation of the ROS 2 Executor for the C++ API (rclcpp) has, however, certain unusual features, like precedence of timers over all other DDS handles, non-preemptive round-robin scheduling for non-timer handles and considering only one input data for each handle (even if multiple could be available). These features have the consequence, that in certain situations the standard rclcpp Executor is not deterministic and it makes guaranteeing real-time requirements very hard [[CB2019](#CB2019)]. We have not looked at the ROS 2 Executor implementation for Python Frontend (rclpy) because we consider a micro-controllers platform, on which typically C or C++ appliations will run. Given the goals for a Real-Time Executor and the limitations of the ROS 2 standard rclcpp Executor, the challenges are: - to develop an adequate and well-defined scheduling mechanisms for the ROS 2 framework and the real-time operating system (RTOS) -- to define an easy-to-use interface for ROS-developers +- to define an easy-to-use interface for ROS developers - to model requirements (like latencies, determinism in subsystems) -- mapping of ROS framework and OS scheduler (semi-automated and optimized mapping is desired as well as generic, well-understood framework mechanisms) +- mapping of ROS 2 framework and operating system schedulers (semi-automated and optimized mapping is desired as well as generic, well-understood framework mechanisms) Our approach is to provide a Real-Time Executor on the rcl-layer (as described in section [Introduction to Client Library](../).) in C programming language . As the first step, we propose the rclc Executor for the rcl-layer in C with several features to support real-time and deterministic execution: It supports 1.) static sequential execution, 2) conditional execution and 3) logical execution semantics (LET). Sequential execution refers to the runtime behavior, that all callbacks are executed in a pre-defined order independent of the arrival time of messages. Conditional execution is available with a trigger condition which enables typical processing patterns in robotics (which are analyzed in detail in section [Analysis of processing patterns](#analysis-of-processing-patterns). The logical execution time concept provides data consistency for fixed periodic task scheduling, which is often used in embedded real-time applications. -Beyond the advanced execution management mechanisms for micro-ROS, we also contributed to improving and extending the Executor concept in rclcpp for standard ROS 2: the callback group-level Executor. It is not a new Executor but rather a refinement of the API allowing to prioritize a group of callbacks which is not possible with the ROS 2 default Executor in its current Galactic release. +Beyond the advanced execution management mechanisms for micro-ROS, we also contributed to improving and extending the Executor concept in rclcpp for standard ROS 2: the callback group-level Executor. It is not a new Executor but rather a refinement of the ROS 2 Executor API allowing to prioritize a group of callbacks which is not possible with the ROS 2 default Executor in its current Galactic release. ## Analysis of rclcpp standard Executor @@ -117,10 +115,10 @@ In a recent paper [[CB2019](#CB2019)], the rclcpp Executor has been analyzed in Due to these findings, the authors present an alternative approach to provide determinism and to apply well-known schedulability analyses to a ROS 2 systems. A response time analysis is described under reservation-based scheduling. ## Analysis of processing patterns -The development of an execution management mechanism for micro-ROS is based on an analysis of processing patterns commonly used in robotic applications. First, the processing patterns in the real-time embedded systems are described, in which the time-triggered paradigm is often used to guarantee deterministic and real-time behavior. Then, typical processing patterns are descrived for mobile robotics to implement deterministic runtime behavior. +The development of an execution management mechanism for micro-ROS is based on an analysis of processing patterns commonly used in robotics and embedded systems. First, the processing patterns in the real-time embedded systems are analyzed, in which the time-triggered paradigm is applied to accomplish real-time behavior. Then, typical processing patterns in mobile robotics are presented which are used to implement deterministic behavior. ### Real-time embedded applications -In embedded systems, real-time behavior is approached by using the time-triggered paradigm, which means that the processes are periodically activated. Processes can be assigned priorities to allow pre-emptions. Figure~1 shows an example, in which three processes with fixed periods are shown. The middle and lower process are preempted multiple times depicted with empty dashed boxes. +In embedded systems, real-time behavior is approached by using the time-triggered paradigm, which means that the processes are periodically activated. Processes can be assigned priorities to allow pre-emptions. Figure 1 shows an example, in which three processes with fixed periods are shown. The middle and lower process are preempted multiple times depicted with empty dashed boxes.
Schedule with fixed periods @@ -152,11 +150,9 @@ However, data consistency is often an issue when preemptive scheduling is used a Figure 3: Data communication without and with Logical Execution Time paradigm.
- - An Example of the LET concept is shown in Figure 3. Assume that two processes are communicating data via one global variable. The timepoint when this data is written is at the end of the processing time. In the default case (left side), the process p3 and p4 receive the update. At the right side of the figure, the same scenario is shown with LET semantics. Here, the data is communicated only at period boundaries. In this case, the lower process communicates at the end of the period, so that always process p3 and p5 receive the new data. -The described embedded use case relies on the following concepts: +**Concept:** - periodic execution of processes - assignment of fixed priorities to processes - preemptive scheduling of processes @@ -165,14 +161,15 @@ The described embedded use case relies on the following concepts: While periodic activation is possible in ROS2 by using timers, preemptive scheduling is supported by the operating system and assigning priorities on the granularity of threads/processes that correspond to the ROS nodes; it is not possible to sequentially execute callbacks, which have no data-dependency. Furthermore data is read from the DDS queue just before the callback is executed and data is written sometime during the time the application is executed. While the `spin_period` function of the rclcpp Executor allows to check for data at a fixed period and executing those callbacks for which data is available, however, with this spin-function does not execute all callbacks irrespective wheter data is available or not. So `spin_period` is not helpful to periodically execute a number of callbacks (aka tasks within a process). So we need a mechanism that triggers the execution of multiple callbacks (aka tasks) based on a timer. Data transmission is achieved via DDS which does not allow to implement a LET-semantics. To summarize, we derive the following requirements: -Derived Requirements: +**Derived requirements:** - trigger the execution of multiple callbacks - sequential processing of callbacks - data synchronization with LET semantics ### Sense-plan-act pipeline in robotics Now we describe common software design patterns which are used in mobile robotics to achieve deterministic behavior. For each design pattern we describe the concept and the derived requirements for a deterministic Executor. -Concept: + +**Concept:** A common design paradigm in mobile robotics is a control loop, consisting of several phases: A sensing phase to aquire sensor data, a plan phase for localization and path planning and an actuation-phase to steer the mobile robot. Of course, more phases are possible, here these three phases shall serve as an example. Such a processing pipeline is shown in Figure 4. @@ -189,12 +186,12 @@ Currently, such a processing order cannot be defined with the default ROS2 Execu For this sense-plan-act pattern, we could define one executor for each phase. The plan-phase would be triggered only when all callbacks in the sense-phase have finished. -Derived Requirements: +**Derived requirements:** - triggered execution of callbacks ### Synchronization of multiple rates -Concept: +**Concept:** Often multiple sensors are being used to sense the environment for mobile robotics. While an IMU sensor provides data samples at a very high rate (e.g., 500 Hz), laser scans are availabe at a much slower frequency (e.g. 10Hz) determined by the revolution time. Then the challenge is, how to deterministically fuse sensor data with different frequencies. This problem is depicted in Figure 5. @@ -205,8 +202,6 @@ Often multiple sensors are being used to sense the environment for mobile roboti Figure 5: How to deterministically process multi-frequent sensor data. - - Due to scheduling effects, the callback for evaluating the laser scan might be called just before or just after an IMU data is received. One way to tackle this is to write additional synchronization code inside the application. Obviously, this is a cumbersome and not-portable solution. An Alternative would be to evalute the IMU sample and the laser scan by synchronizing their frequency. For example by processing always 50 IMU samples with one laser scan. This approach is shown in Figure 6. A pre-processing callback aggregates the IMU samples and sends an aggregated message with 50 samples at 10Hz rate. Now both messages have the same frequency. With a trigger condition, which fires when both messages are available, the sensor fusion algorithm can expect always synchronized input data. @@ -220,7 +215,6 @@ Figure 6: Synchronization of multiple input data with a trigger. In ROS 2, this is currently not possible to be modeled because of the lack of a trigger concept in the ROS2 Executor. Message filters could be used to synchronize input data based on the timestamp in the header, but this is only available in rclcpp (and not in rcl). Further more, it would be more efficient to have such a trigger concept directly in the Executor. - Another idea would be to activly request for IMU data only when a laser scan is received. This concept is shown in Figure 7. Upon arrival of a laser scan mesage, first, a message with aggregated IMU samples is requested. Then, the laser scan is processed and later the sensor fusion algorithm. An Executor, which would support sequential execution of callbacks, could realize this idea.
@@ -230,13 +224,12 @@ Another idea would be to activly request for IMU data only when a laser scan is Figure 7: Synchronization with sequential processing.
-Derived Requirements from both concepts: +**Derived requirements:** - triggered execution - sequential procesing of callbacks ### High-priority processing path -Motivation: - +**Concept** Often a robot has to fullfill several activities at the same time. For example following a path and avoiding obstacles. While path following is a permanent activity, obstacle avoidance is trigged by the environment and should be immediately reacted upon. Therefore one would like to specify priorities to activities. This is depicted in Figure 8:
@@ -248,26 +241,18 @@ Figure 8: Managing high priority path with sequential order. Assuming a simplified control loop with the activities sense-plan-act, the obstacle avoidance, which might temporarily stop the robot, should be processed before the planning phase. In this example we assume that these activites are processed in one thread. -Derived requirements: +**Derived requirements:** - sequential processing of callbacks ## rclc Executor -The rclc Executor is an Executor based on the rcl-layer in C programming language. As discussed above, the default rclcpp Executor is not suitable to implement real-time applications because of three main reasons: timers are preferred over all other handles, no priorization of callback execution and the round-robin to completion execution of callbacks. On the other hand, several processing patterns have been developed as best practice recipies in robotics to achieve non-functional requirements, such as bounded end-to-end latencies, low jitter of response times of cause-effect chains, deterministic processing, and quick response times even in overload situations. These processing patterns are difficult to implement with the default rclcpp Executor, therefore we have developed a flexible Executor: the rclc Executor. - -It supports three main features: First, a *trigger condition* allows to define when the processing of a callback shall start. This is useful to implement sense-plan-act control loops or more complex processing structures with directed acyclic graphs. Second, a user can specify the *processing order* in which these callbacks will be executed. With this feature, the pattern of sensor fusion with multiple rates, in which data is requested from a sensor based on the arrival of some other sensor, can be easily implemented. Third, the rclc Executor allows to set scheduling parameters (e.g., priorities) of the underlying operating system (WIP). With this feature, prioritized processing can be implemented. Third, for periodic applications, the *LET Semantics* has been implemented. +The rclc Executor is a ROS 2 Executor based on the rcl-layer in C programming language. As discussed above, the default rclcpp Executor is not suitable to implement real-time applications because of three main reasons: timers are preferred over all other handles, no priorization of callback execution and the round-robin to completion execution of callbacks. On the other hand, several processing patterns have been developed as best practices to achieve non-functional requirements, such as bounded end-to-end latencies, low jitter of response times of cause-effect chains, deterministic processing and short response times even in overload situations. These processing patterns are difficult to implement with the concepts availabe in the default ROS 2 Executor, therefore we have developed a flexible Executor: the rclc Executor. -### Features -The flexible rclc Executor provides the following main features: -- trigger condition to activate processing -- user-defined sequential execution of callbacks -- data synchronization: LET-semantics or rclcpp Executor semantics -- multi-threading and configuration of operating system scheduling parameters to callbacks -These features are now described in more detail. +### Features -The rclc Executor supports all event types as the default ROS 2 Executor, which are: +The rclc Executor is feature-complete, i.e. it supports all event types as the default ROS 2 Executor, which are: - subscriptions - timers - services @@ -276,6 +261,14 @@ The rclc Executor supports all event types as the default ROS 2 Executor, which - actions - lifecycle +The flexible rclc Executor provides on top the following new features: +- trigger for conditional execution +- user-defined sequential execution +- multi-threading and scheduling configuration (WIP) +- LET-semantics for data synchronization of periodic process scheduling + +First, a *trigger condition* allows to define when the processing of a callback shall start. This is useful to implement sense-plan-act control loops or more complex processing structures with directed acyclic graphs. Second, a user can specify the *processing order* in which these callbacks will be executed. With this feature, the pattern of sensor fusion with multiple rates, in which data is requested from a sensor based on the arrival of some other sensor, can be easily implemented. Third, the assignment of scheduling parameters (e.g., priorities) of the underlying operating system. With this feature, prioritized processing can be implemented. Finally, for periodic applications, the *LET Semantics* has been implemented to support data consistency for periodic process scheduling. These features are now described in more detail. + #### Sequential execution - At configuration, the user defines the order of handles. @@ -360,7 +353,7 @@ The selection of the Executor semantics is optional. The default semantics is "R The rclc Executor has been extended for multi-threading. It supports the assignment of scheduling policies, like priorities or more advanced scheduling algorithms as reservation-based scheduling, to subscription callbacks. [[Pull Request](https://github.com/ros2/rclc/pull/87), Pre-print [SLD2021](#SLD2021)]. The overall architecture is shown in Figure 15. One Executor thread is responsible for checking for new data from the DDS queue. For every callback, a thread is spawned with the dedicted scheduling policy provided by the operating system. The Executor then dispatches new data of a subscription to it's corresponding callback function, which is then executed in its own thread by operating system.
-Multi-threaded rclc Executor +Multi-threaded rclc Executor
Figure 15: multi-threaded rclc-Executor From 1084118c544c85c4e85e45795a67d6abc8f08056 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 11:42:28 +0100 Subject: [PATCH 14/27] restructured processing patterns, (LET as last pattern) --- .../execution_management/index.md | 111 +++++++++--------- 1 file changed, 55 insertions(+), 56 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index cc6269f2..a17f3051 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -16,10 +16,10 @@ redirect_from: * [Scheduling Semantics](#scheduling-semantics) * [Analysis of processing patterns](#analysis-of-processing-patterns) - * [Real-time embedded applications](#real-time-embedded-applications) * [Sense-plan-act pipeline in robotics](#sense-plan-act-pipeline-in-robotics) * [Synchronization of multiple rates](#synchronization-of-multiple-rates) * [High-priority processing path](#high-priority-processing-path) + * [Real-time embedded applications](#real-time-embedded-applications) * [rclc Executor](#rclc-executor) * [Features](#features) * [Trigger condition](#trigger-condition) @@ -50,9 +50,9 @@ redirect_from: ## Introduction -Predictable execution under given real-time constraints is a crucial requirement for many robotic applications. While the service-based paradigm of ROS allows a fast integration of many different functionalities, it does not provide sufficient control over the execution management. For example, there are no mechanisms to enforce a certain execution order of callbacks within a node. Also the execution order of multiple nodes is essential for control applications in mobile robotics. Cause-effect-chains comprising of sensor acquisition, evaluation of data and actuation control should be mapped to ROS nodes executed in this order, however there are no explicit mechanisms to enforce it. Furthermore, when input data is collected in field tests, saved with ROS-bags and re-played, often results are different due to non-determinism of process scheduling. +Predictable execution under given real-time constraints is a crucial requirement for many robotic applications. While the service-based paradigm of ROS allows a fast integration of many different functionalities, it does not provide sufficient control over the execution management. For example, there are no mechanisms to enforce a certain execution order of callbacks within a node. Also the execution order of multiple nodes is essential for control applications in mobile robotics. Cause-effect-chains comprising of sensor acquisition, evaluation of data and actuation control should be mapped to ROS nodes executed in this order, however there are no explicit mechanisms to enforce it. Furthermore, when data recordings collected in field tests as ROS-bags are re-played, then the results are often surprisingly different due to non-determinism of process scheduling. -Manually setting up a particular execution order of subscribing and publishing topics in the callbacks or by tweaking the priorities of the corresponding Linux processes is always possible. However, this approach is error-prone, difficult to extend and requires an in-depth knowledge of the deployed ROS 2 packages in the system. +Manually setting up a particular execution order of subscriptions and publishing topics as well as defining use-case specific priorities of the corresponding Linux processes is always possible. However, this approach is error-prone, difficult to extend and requires an in-depth knowledge of the deployed ROS 2 packages in the system. Therefore the goal of the Real-Time Executor is to support roboticists with practical and easy-to-use real-time mechanisms which provide solutions for: - Deterministic execution @@ -73,7 +73,7 @@ Given the goals for a Real-Time Executor and the limitations of the ROS 2 standa Our approach is to provide a Real-Time Executor on the rcl-layer (as described in section [Introduction to Client Library](../).) in C programming language . -As the first step, we propose the rclc Executor for the rcl-layer in C with several features to support real-time and deterministic execution: It supports 1.) static sequential execution, 2) conditional execution and 3) logical execution semantics (LET). Sequential execution refers to the runtime behavior, that all callbacks are executed in a pre-defined order independent of the arrival time of messages. Conditional execution is available with a trigger condition which enables typical processing patterns in robotics (which are analyzed in detail in section [Analysis of processing patterns](#analysis-of-processing-patterns). The logical execution time concept provides data consistency for fixed periodic task scheduling, which is often used in embedded real-time applications. +As the first step, we propose the rclc Executor for the rcl-layer in C programming language with several new features to support real-time and deterministic execution: It supports 1.) user-defined static sequential execution, 2) conditional execution semantics, 3) multi-threaded execution with scheduling configuration, and 4) logical execution semantics (LET). Sequential execution refers to the runtime behavior, that all callbacks are executed in a pre-defined order independent of the arrival time of messages. Conditional execution is available with a trigger condition which enables typical processing patterns in robotics (which are analyzed in detail in section [Analysis of processing patterns](#analysis-of-processing-patterns). Configuration of scheduling parameters for multi-threaded application accomplishes prioritized execution. The logical execution time concept (LET) provides data synchronization for fixed periodic task scheduling of embedded applications. Beyond the advanced execution management mechanisms for micro-ROS, we also contributed to improving and extending the Executor concept in rclcpp for standard ROS 2: the callback group-level Executor. It is not a new Executor but rather a refinement of the ROS 2 Executor API allowing to prioritize a group of callbacks which is not possible with the ROS 2 default Executor in its current Galactic release. @@ -115,56 +115,7 @@ In a recent paper [[CB2019](#CB2019)], the rclcpp Executor has been analyzed in Due to these findings, the authors present an alternative approach to provide determinism and to apply well-known schedulability analyses to a ROS 2 systems. A response time analysis is described under reservation-based scheduling. ## Analysis of processing patterns -The development of an execution management mechanism for micro-ROS is based on an analysis of processing patterns commonly used in robotics and embedded systems. First, the processing patterns in the real-time embedded systems are analyzed, in which the time-triggered paradigm is applied to accomplish real-time behavior. Then, typical processing patterns in mobile robotics are presented which are used to implement deterministic behavior. - -### Real-time embedded applications -In embedded systems, real-time behavior is approached by using the time-triggered paradigm, which means that the processes are periodically activated. Processes can be assigned priorities to allow pre-emptions. Figure 1 shows an example, in which three processes with fixed periods are shown. The middle and lower process are preempted multiple times depicted with empty dashed boxes. - -
-Schedule with fixed periods -
-
-Figure 1: Fixed periodic preemptive scheduling. -
- -To each process one or multiple tasks can be assigned, as shown in Figure 2. These tasks are executed sequentially, which is often called cooperative scheduling. - -
-Schedule with fixed periods -
-
-Figure 2: Processes with sequentially executed tasks. -
- -While there are different ways to assign priorities to a given number of processes, -the rate-monotonic scheduling assignment, in which processes with a shorter period have a higher priority, has been shown optimal if the processor utilization is less than 69% [[LL1973](#LL1973)]. - - In the last decades many different scheduling approaches have been presented, however fixed-periodic preemptive scheduling is still widely used in embedded real-time systems [[KZH2015](#KZH2015)]. This becomes also obvious, when looking at the features of current operating systems. Like Linux, real-time operating systems, such as NuttX, Zephyr, FreeRTOS, QNX etc., support fixed-periodic preemptive scheduling and the assignment of priorities, which makes the time-triggered paradigm the dominant design principle in this domain. - -However, data consistency is often an issue when preemptive scheduling is used and if data is being shared across multiple processes via global variables. Due to scheduling effects and varying execution times of processes, writing and reading these variables could occur sometimes sooner or later. This results in an latency jitter of update times (the timepoint at which a variable change becomes visible to other processes). Race conditions can occur when multiple processes access a variable at the same time. So solve this problem, the concept of logical-execution time (LET) was introduced in [[HHK2001](#HHK2001)], in which communication of data occurs only at pre-defined periodic time instances: Reading data only at the beginning of the period and writing data only at the end of the period. The cost of an additional latency delay is traded for data consistency and reduced jitter. This concept has also recently been applied to automotive applications[[NSP2018](#NSP2018)]. - -
-Schedule with fixed periods -
-
-Figure 3: Data communication without and with Logical Execution Time paradigm. -
- -An Example of the LET concept is shown in Figure 3. Assume that two processes are communicating data via one global variable. The timepoint when this data is written is at the end of the processing time. In the default case (left side), the process p3 and p4 receive the update. At the right side of the figure, the same scenario is shown with LET semantics. Here, the data is communicated only at period boundaries. In this case, the lower process communicates at the end of the period, so that always process p3 and p5 receive the new data. - -**Concept:** -- periodic execution of processes -- assignment of fixed priorities to processes -- preemptive scheduling of processes -- co-operative scheduling of tasks within a process (sequential execution) -- data synchronization with LET-semantics - -While periodic activation is possible in ROS2 by using timers, preemptive scheduling is supported by the operating system and assigning priorities on the granularity of threads/processes that correspond to the ROS nodes; it is not possible to sequentially execute callbacks, which have no data-dependency. Furthermore data is read from the DDS queue just before the callback is executed and data is written sometime during the time the application is executed. While the `spin_period` function of the rclcpp Executor allows to check for data at a fixed period and executing those callbacks for which data is available, however, with this spin-function does not execute all callbacks irrespective wheter data is available or not. So `spin_period` is not helpful to periodically execute a number of callbacks (aka tasks within a process). So we need a mechanism that triggers the execution of multiple callbacks (aka tasks) based on a timer. Data transmission is achieved via DDS which does not allow to implement a LET-semantics. To summarize, we derive the following requirements: - -**Derived requirements:** -- trigger the execution of multiple callbacks -- sequential processing of callbacks -- data synchronization with LET semantics +The development of an execution management mechanism for micro-ROS is based on an analysis of processing patterns commonly used in robotics and embedded systems. First, typical processing patterns in mobile robotics are presented which are used to implement deterministic behavior. Then, the processing patterns in the real-time embedded systems are analyzed, in which, as a main difference, the time-triggered paradigm is applied to accomplish real-time behavior. ### Sense-plan-act pipeline in robotics Now we describe common software design patterns which are used in mobile robotics to achieve deterministic behavior. For each design pattern we describe the concept and the derived requirements for a deterministic Executor. @@ -244,11 +195,59 @@ Assuming a simplified control loop with the activities sense-plan-act, the obsta **Derived requirements:** - sequential processing of callbacks -## rclc Executor -The rclc Executor is a ROS 2 Executor based on the rcl-layer in C programming language. As discussed above, the default rclcpp Executor is not suitable to implement real-time applications because of three main reasons: timers are preferred over all other handles, no priorization of callback execution and the round-robin to completion execution of callbacks. On the other hand, several processing patterns have been developed as best practices to achieve non-functional requirements, such as bounded end-to-end latencies, low jitter of response times of cause-effect chains, deterministic processing and short response times even in overload situations. These processing patterns are difficult to implement with the concepts availabe in the default ROS 2 Executor, therefore we have developed a flexible Executor: the rclc Executor. +### Real-time embedded applications +In embedded systems, real-time behavior is approached by using the time-triggered paradigm, which means that the processes are periodically activated. Processes can be assigned priorities to allow pre-emptions. Figure 1 shows an example, in which three processes with fixed periods are shown. The middle and lower process are preempted multiple times depicted with empty dashed boxes. + +
+Schedule with fixed periods +
+
+Figure 1: Fixed periodic preemptive scheduling. +
+ +To each process one or multiple tasks can be assigned, as shown in Figure 2. These tasks are executed sequentially, which is often called cooperative scheduling. + +
+Schedule with fixed periods +
+
+Figure 2: Processes with sequentially executed tasks. +
+While there are different ways to assign priorities to a given number of processes, +the rate-monotonic scheduling assignment, in which processes with a shorter period have a higher priority, has been shown optimal if the processor utilization is less than 69% [[LL1973](#LL1973)]. + + In the last decades many different scheduling approaches have been presented, however fixed-periodic preemptive scheduling is still widely used in embedded real-time systems [[KZH2015](#KZH2015)]. This becomes also obvious, when looking at the features of current operating systems. Like Linux, real-time operating systems, such as NuttX, Zephyr, FreeRTOS, QNX etc., support fixed-periodic preemptive scheduling and the assignment of priorities, which makes the time-triggered paradigm the dominant design principle in this domain. +However, data consistency is often an issue when preemptive scheduling is used and if data is being shared across multiple processes via global variables. Due to scheduling effects and varying execution times of processes, writing and reading these variables could occur sometimes sooner or later. This results in an latency jitter of update times (the timepoint at which a variable change becomes visible to other processes). Race conditions can occur when multiple processes access a variable at the same time. So solve this problem, the concept of logical-execution time (LET) was introduced in [[HHK2001](#HHK2001)], in which communication of data occurs only at pre-defined periodic time instances: Reading data only at the beginning of the period and writing data only at the end of the period. The cost of an additional latency delay is traded for data consistency and reduced jitter. This concept has also recently been applied to automotive applications[[NSP2018](#NSP2018)]. + +
+Schedule with fixed periods +
+
+Figure 3: Data communication without and with Logical Execution Time paradigm. +
+ +An Example of the LET concept is shown in Figure 3. Assume that two processes are communicating data via one global variable. The timepoint when this data is written is at the end of the processing time. In the default case (left side), the process p3 and p4 receive the update. At the right side of the figure, the same scenario is shown with LET semantics. Here, the data is communicated only at period boundaries. In this case, the lower process communicates at the end of the period, so that always process p3 and p5 receive the new data. + +**Concept:** +- periodic execution of processes +- assignment of fixed priorities to processes +- preemptive scheduling of processes +- co-operative scheduling of tasks within a process (sequential execution) +- data synchronization with LET-semantics + +While periodic activation is possible in ROS2 by using timers, preemptive scheduling is supported by the operating system and assigning priorities on the granularity of threads/processes that correspond to the ROS nodes; it is not possible to sequentially execute callbacks, which have no data-dependency. Furthermore data is read from the DDS queue just before the callback is executed and data is written sometime during the time the application is executed. While the `spin_period` function of the rclcpp Executor allows to check for data at a fixed period and executing those callbacks for which data is available, however, with this spin-function does not execute all callbacks irrespective wheter data is available or not. So `spin_period` is not helpful to periodically execute a number of callbacks (aka tasks within a process). So we need a mechanism that triggers the execution of multiple callbacks (aka tasks) based on a timer. Data transmission is achieved via DDS which does not allow to implement a LET-semantics. To summarize, we derive the following requirements: + +**Derived requirements:** +- trigger the execution of multiple callbacks +- sequential processing of callbacks +- data synchronization with LET semantics + +## rclc Executor + +The rclc Executor is a ROS 2 Executor based on the rcl-layer in C programming language. As discussed above, the default rclcpp Executor is not suitable to implement real-time applications because of three main reasons: timers are preferred over all other handles, no priorization of callback execution and the round-robin to completion execution of callbacks. On the other hand, several processing patterns have been developed as best practices to achieve non-functional requirements, such as bounded end-to-end latencies, low jitter of response times of cause-effect chains, deterministic processing and short response times even in overload situations. These processing patterns are difficult to implement with the concepts availabe in the default ROS 2 Executor, therefore we have developed a flexible Executor: the rclc Executor. ### Features From 15b7fbc8366d63350c18f3c77172f3cb2149abcd Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 11:46:59 +0100 Subject: [PATCH 15/27] minor improvements. --- _docs/concepts/client_library/execution_management/index.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index a17f3051..b3f330ad 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -138,7 +138,7 @@ Currently, such a processing order cannot be defined with the default ROS2 Execu For this sense-plan-act pattern, we could define one executor for each phase. The plan-phase would be triggered only when all callbacks in the sense-phase have finished. **Derived requirements:** -- triggered execution of callbacks +- triggered execution ### Synchronization of multiple rates @@ -241,7 +241,7 @@ An Example of the LET concept is shown in Figure 3. Assume that two processes ar While periodic activation is possible in ROS2 by using timers, preemptive scheduling is supported by the operating system and assigning priorities on the granularity of threads/processes that correspond to the ROS nodes; it is not possible to sequentially execute callbacks, which have no data-dependency. Furthermore data is read from the DDS queue just before the callback is executed and data is written sometime during the time the application is executed. While the `spin_period` function of the rclcpp Executor allows to check for data at a fixed period and executing those callbacks for which data is available, however, with this spin-function does not execute all callbacks irrespective wheter data is available or not. So `spin_period` is not helpful to periodically execute a number of callbacks (aka tasks within a process). So we need a mechanism that triggers the execution of multiple callbacks (aka tasks) based on a timer. Data transmission is achieved via DDS which does not allow to implement a LET-semantics. To summarize, we derive the following requirements: **Derived requirements:** -- trigger the execution of multiple callbacks +- trigger the execution - sequential processing of callbacks - data synchronization with LET semantics @@ -261,7 +261,7 @@ The rclc Executor is feature-complete, i.e. it supports all event types as the d - lifecycle The flexible rclc Executor provides on top the following new features: -- trigger for conditional execution +- triggered execution - user-defined sequential execution - multi-threading and scheduling configuration (WIP) - LET-semantics for data synchronization of periodic process scheduling From 51bf721de97ea6302caccf6a1698e8bf8d0a0e91 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 11:51:08 +0100 Subject: [PATCH 16/27] minor improvements. --- _docs/concepts/client_library/execution_management/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index b3f330ad..e5a345ff 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -723,7 +723,7 @@ URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8376277&isnumber=83 ## References -* [S2021] J. Staschulat, "Micro-ROS: The rclc Executor", ROS 2 Executor: How to make it efficient, real-time and deterministic?, ROS World, Oct. 2021, [[slides](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4.filesusr.com/ugd/984e93_749e27b917a54b45b9ccb5be930841b8.pdf)] [[recorded presentation](https://www.youtube.com/embed/IazrPF3RN1U)] +* [S2021] J. Staschulat, "Micro-ROS: The rclc Executor", ROS 2 Executor: How to make it efficient, real-time and deterministic?, ROS World, Oct. 2021, [[slides](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4.filesusr.com/ugd/984e93_749e27b917a54b45b9ccb5be930841b8.pdf)] [[Video](https://www.youtube.com/embed/IazrPF3RN1U)] * [SLD2021] J. Staschulat, R. Lange and D. N. Dasari, "Budget-based real-time Executor for Micro-ROS", arXiv Pre-Print, May 2021. [[paper](https://arxiv.org/abs/2105.05590)] From 5ec69f64be4a445b1c772d09d8253abba127fbe5 Mon Sep 17 00:00:00 2001 From: Jan Staschulat Date: Thu, 16 Dec 2021 12:56:13 +0100 Subject: [PATCH 17/27] Update _docs/concepts/client_library/execution_management/index.md Co-authored-by: Ralph Lange --- _docs/concepts/client_library/execution_management/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index e5a345ff..196fabe8 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -54,7 +54,7 @@ Predictable execution under given real-time constraints is a crucial requirement Manually setting up a particular execution order of subscriptions and publishing topics as well as defining use-case specific priorities of the corresponding Linux processes is always possible. However, this approach is error-prone, difficult to extend and requires an in-depth knowledge of the deployed ROS 2 packages in the system. -Therefore the goal of the Real-Time Executor is to support roboticists with practical and easy-to-use real-time mechanisms which provide solutions for: +Therefore the goal of the Executor in micro-ROS is to support roboticists with practical and easy-to-use real-time mechanisms which provide solutions for: - Deterministic execution - Real-time guarantees - Integration of real-time and non real-time functionalities on one platform From 89d326e80451a2441c823a15722510eb93ae8273 Mon Sep 17 00:00:00 2001 From: Jan Staschulat Date: Thu, 16 Dec 2021 12:56:45 +0100 Subject: [PATCH 18/27] Update _docs/concepts/client_library/execution_management/index.md Co-authored-by: Ralph Lange --- _docs/concepts/client_library/execution_management/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 196fabe8..49e72826 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -71,7 +71,7 @@ Given the goals for a Real-Time Executor and the limitations of the ROS 2 standa - to model requirements (like latencies, determinism in subsystems) - mapping of ROS 2 framework and operating system schedulers (semi-automated and optimized mapping is desired as well as generic, well-understood framework mechanisms) -Our approach is to provide a Real-Time Executor on the rcl-layer (as described in section [Introduction to Client Library](../).) in C programming language . +Our approach is to provide a real-time-capable Executor for the rcl+rclc layer (as described in section [Introduction to Client Library](../).) in the C programming language . As the first step, we propose the rclc Executor for the rcl-layer in C programming language with several new features to support real-time and deterministic execution: It supports 1.) user-defined static sequential execution, 2) conditional execution semantics, 3) multi-threaded execution with scheduling configuration, and 4) logical execution semantics (LET). Sequential execution refers to the runtime behavior, that all callbacks are executed in a pre-defined order independent of the arrival time of messages. Conditional execution is available with a trigger condition which enables typical processing patterns in robotics (which are analyzed in detail in section [Analysis of processing patterns](#analysis-of-processing-patterns). Configuration of scheduling parameters for multi-threaded application accomplishes prioritized execution. The logical execution time concept (LET) provides data synchronization for fixed periodic task scheduling of embedded applications. From 85b6846126f34e2c3397e28a27bb3f58e10775b5 Mon Sep 17 00:00:00 2001 From: Jan Staschulat Date: Thu, 16 Dec 2021 12:57:12 +0100 Subject: [PATCH 19/27] Update _docs/concepts/client_library/execution_management/index.md Co-authored-by: Ralph Lange --- _docs/concepts/client_library/execution_management/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 49e72826..06c41d0e 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -133,7 +133,7 @@ Figure 4: Multiple sensors driving a Sense-Plan-Act pipeline. Typically multiple sensors are used to perceive the environment. For example an IMU and a laser scanner. The quality of localization algorithms highly depend on how old such sensor data is when it is processed. Ideally the latest data of all sensors should be processed. One way to achive this is to execute first all sensor drivers in the sense-phase and then process all algorithms in the plan-phase. -Currently, such a processing order cannot be defined with the default ROS2 Executor. One could in principle design a data-driven pipeline, however if e.g. the Laser scan is needed by some other callback in the sense-phase as well as in the plan-phase, the processing order of these subscribers is arbitrary. +Currently, such a processing order cannot be defined with the default Executor of rclcpp. One could in principle design a data-driven pipeline, however if e.g. the Laser scan is needed by some other callback in the sense-phase as well as in the plan-phase, the processing order of these subscribers is arbitrary. For this sense-plan-act pattern, we could define one executor for each phase. The plan-phase would be triggered only when all callbacks in the sense-phase have finished. From 8aca5a98e37438ffbeeb9c1d56d9aed17ef191ed Mon Sep 17 00:00:00 2001 From: Jan Staschulat Date: Thu, 16 Dec 2021 12:57:27 +0100 Subject: [PATCH 20/27] Update _docs/concepts/client_library/execution_management/index.md Co-authored-by: Ralph Lange --- _docs/concepts/client_library/execution_management/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 06c41d0e..0a45966e 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -164,7 +164,7 @@ An Alternative would be to evalute the IMU sample and the laser scan by synchron Figure 6: Synchronization of multiple input data with a trigger.
-In ROS 2, this is currently not possible to be modeled because of the lack of a trigger concept in the ROS2 Executor. Message filters could be used to synchronize input data based on the timestamp in the header, but this is only available in rclcpp (and not in rcl). Further more, it would be more efficient to have such a trigger concept directly in the Executor. +In ROS 2, this is currently not possible to be modeled because of the lack of a trigger concept in the Executors of rclcpp and rclpy. Message filters could be used to synchronize input data based on the timestamp in the header, but this is only available in rclcpp (and not in rcl). Further more, it would be more efficient to have such a trigger concept directly in the Executor. Another idea would be to activly request for IMU data only when a laser scan is received. This concept is shown in Figure 7. Upon arrival of a laser scan mesage, first, a message with aggregated IMU samples is requested. Then, the laser scan is processed and later the sensor fusion algorithm. An Executor, which would support sequential execution of callbacks, could realize this idea. From 8e944db73414012d692891835d5c09ad5fa4f127 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 13:01:37 +0100 Subject: [PATCH 21/27] second review from Ralph --- _docs/concepts/client_library/execution_management/index.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index e5a345ff..c2544ac5 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -238,7 +238,8 @@ An Example of the LET concept is shown in Figure 3. Assume that two processes ar - co-operative scheduling of tasks within a process (sequential execution) - data synchronization with LET-semantics -While periodic activation is possible in ROS2 by using timers, preemptive scheduling is supported by the operating system and assigning priorities on the granularity of threads/processes that correspond to the ROS nodes; it is not possible to sequentially execute callbacks, which have no data-dependency. Furthermore data is read from the DDS queue just before the callback is executed and data is written sometime during the time the application is executed. While the `spin_period` function of the rclcpp Executor allows to check for data at a fixed period and executing those callbacks for which data is available, however, with this spin-function does not execute all callbacks irrespective wheter data is available or not. So `spin_period` is not helpful to periodically execute a number of callbacks (aka tasks within a process). So we need a mechanism that triggers the execution of multiple callbacks (aka tasks) based on a timer. Data transmission is achieved via DDS which does not allow to implement a LET-semantics. To summarize, we derive the following requirements: + +While periodic activation is possible in ROS 2 by using timers, preemptive scheduling is supported by the operating system and assigning priorities on the granularity of threads/processes that correspond to the ROS nodes; it is not possible to sequentially execute callbacks, which have no data-dependency. Furthermore data is read from the DDS queue just before the callback is executed and data is written sometime during the time the application is executed. While the `spin_period` function of the rclcpp Executor allows to check for data at a fixed period and executing those callbacks for which data is available, however, with this spin-function does not execute all callbacks irrespective wheter data is available or not. So `spin_period` is not helpful to periodically execute a number of callbacks (aka tasks within a process). So we need a mechanism that triggers the execution of multiple callbacks (aka tasks) based on a timer. Data transmission is achieved via DDS which does not allow to implement a LET-semantics. To summarize, we derive the following requirements. **Derived requirements:** - trigger the execution @@ -723,7 +724,7 @@ URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8376277&isnumber=83 ## References -* [S2021] J. Staschulat, "Micro-ROS: The rclc Executor", ROS 2 Executor: How to make it efficient, real-time and deterministic?, ROS World, Oct. 2021, [[slides](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4.filesusr.com/ugd/984e93_749e27b917a54b45b9ccb5be930841b8.pdf)] [[Video](https://www.youtube.com/embed/IazrPF3RN1U)] +* [S2021] J. Staschulat, "Micro-ROS: The rclc Executor", in Workshop ROS 2 Executor: How to make it efficient, real-time and deterministic? at ROS World, Oct. 2021, [[slides](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4.filesusr.com/ugd/984e93_749e27b917a54b45b9ccb5be930841b8.pdf)] [[Video](https://www.youtube.com/embed/IazrPF3RN1U)] * [SLD2021] J. Staschulat, R. Lange and D. N. Dasari, "Budget-based real-time Executor for Micro-ROS", arXiv Pre-Print, May 2021. [[paper](https://arxiv.org/abs/2105.05590)] From 47f69170783d3553d48658340d69ac44418334ff Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 13:05:47 +0100 Subject: [PATCH 22/27] re-ordered example for embedded use-case (moved to the end) --- .../execution_management/index.md | 128 +++++++++--------- 1 file changed, 65 insertions(+), 63 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 4a4ed812..9acf28c3 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -30,10 +30,10 @@ redirect_from: * [Configuration phase](#configuration-phase) * [Running phase](#running-phase) * [Examples](#examples) - * [Embedded use-case](#embedded-use-case) * [Sense-plan-act pipeline](#sense-plan-act-pipeline) * [Sensor fusion](#sensor-fusion) * [High priority path](#high-priority-path) + * [Embedded use-case](#embedded-use-case) * [ROS 2 Executor Workshop Reference System](#ros-2-executor-workshop-reference-system) * [Future work](#future-work) * [Download](#download) @@ -400,68 +400,7 @@ Available spin functions are - `spin` - spin indefinitly ### Examples -We provide the relevant code snippets how to setup the rclc Executor for the embedded use case and for the software design patterns in mobile robotics applications as described above. -#### Embedded use-case - -With seqential execution the co-operative scheduling of tasks within a process can be modeled. The trigger condition is used to periodically activate the process which will then execute all callbacks in a pre-defined order. Data will be communicated using the LET-semantics. Every Executor is executed in its own tread, to which an appropriate priority can be assigned. - -In the following example, the Executor is setup with 4 handles. We assume a process has three subscriptions `sub1`, `sub2`, `sub3`. The sequential processing order is given by the order as they are added to the Executor. A timer `timer` defines the period. The `trigger_one` with the paramter `timer` is used, so that whenever the timer is ready, all callbacks are processed. Finally the data communication semantics LET is defined. -```C -#include "rcl_executor/let_executor.h" - -// define subscription callback -void my_sub_cb1(const void * msgin) -{ - // ... -} -// define subscription callback -void my_sub_cb2(const void * msgin) -{ - // ... -} -// define subscription callback -void my_sub_cb3(const void * msgin) -{ - // ... -} - -// define timer callback -void my_timer_cb(rcl_timer_t * timer, int64_t last_call_time) -{ - // ... -} - -// necessary ROS 2 objects -rcl_context_t context; -rcl_node_t node; -rcl_subscription_t sub1, sub2, sub3; -rcl_timer_t timer; -rcle_let_executor_t exe; - -// define ROS context -context = rcl_get_zero_initialized_context(); -// initialize ROS node -rcl_node_init(&node, &context,...); -// create subscriptions -rcl_subscription_init(&sub1, &node, ...); -rcl_subscription_init(&sub2, &node, ...); -rcl_subscription_init(&sub3, &node, ...); -// create a timer -rcl_timer_init(&timer, &my_timer_cb, ... ); -// initialize executor with four handles -rclc_executor_init(&exe, &context, 4, ...); -// define static execution order of handles -rclc_executor_add_subscription(&exe, &sub1, &my_sub_cb1, ALWAYS); -rclc_executor_add_subscription(&exe, &sub2, &my_sub_cb2, ALWAYS); -rclc_executor_add_subscription(&exe, &sub3, &my_sub_cb3, ALWAYS); -rclc_executor_add_timer(&exe, &timer); -// trigger when handle 'timer' is ready -rclc_executor_set_trigger(&exe, rclc_executor_trigger_one, &timer); -// select LET-semantics -rclc_executor_data_comm_semantics(&exe, LET); -// spin forever -rclc_executor_spin(&exe); -``` +We provide the relevant code snippets how to setup the rclc Executor for the processing patterns as described above. #### Sense-plan-act pipeline @@ -562,6 +501,69 @@ rclc_executor_set_trigger(&exe, rclc_executor_trigger_one, &sense_Laser); // spin rclc_executor_spin(&exe); ``` + +#### Embedded use-case + +With seqential execution the co-operative scheduling of tasks within a process can be modeled. The trigger condition is used to periodically activate the process which will then execute all callbacks in a pre-defined order. Data will be communicated using the LET-semantics. Every Executor is executed in its own tread, to which an appropriate priority can be assigned. + +In the following example, the Executor is setup with 4 handles. We assume a process has three subscriptions `sub1`, `sub2`, `sub3`. The sequential processing order is given by the order as they are added to the Executor. A timer `timer` defines the period. The `trigger_one` with the paramter `timer` is used, so that whenever the timer is ready, all callbacks are processed. Finally the data communication semantics LET is defined. +```C +#include "rcl_executor/let_executor.h" + +// define subscription callback +void my_sub_cb1(const void * msgin) +{ + // ... +} +// define subscription callback +void my_sub_cb2(const void * msgin) +{ + // ... +} +// define subscription callback +void my_sub_cb3(const void * msgin) +{ + // ... +} + +// define timer callback +void my_timer_cb(rcl_timer_t * timer, int64_t last_call_time) +{ + // ... +} + +// necessary ROS 2 objects +rcl_context_t context; +rcl_node_t node; +rcl_subscription_t sub1, sub2, sub3; +rcl_timer_t timer; +rcle_let_executor_t exe; + +// define ROS context +context = rcl_get_zero_initialized_context(); +// initialize ROS node +rcl_node_init(&node, &context,...); +// create subscriptions +rcl_subscription_init(&sub1, &node, ...); +rcl_subscription_init(&sub2, &node, ...); +rcl_subscription_init(&sub3, &node, ...); +// create a timer +rcl_timer_init(&timer, &my_timer_cb, ... ); +// initialize executor with four handles +rclc_executor_init(&exe, &context, 4, ...); +// define static execution order of handles +rclc_executor_add_subscription(&exe, &sub1, &my_sub_cb1, ALWAYS); +rclc_executor_add_subscription(&exe, &sub2, &my_sub_cb2, ALWAYS); +rclc_executor_add_subscription(&exe, &sub3, &my_sub_cb3, ALWAYS); +rclc_executor_add_timer(&exe, &timer); +// trigger when handle 'timer' is ready +rclc_executor_set_trigger(&exe, rclc_executor_trigger_one, &timer); +// select LET-semantics +rclc_executor_data_comm_semantics(&exe, LET); +// spin forever +rclc_executor_spin(&exe); +``` + #### ROS 2 Executor Workshop Reference System The rclc Executor has been presented at the workshop 'ROS 2 Executor: How to make it efficient, real-time and deterministic?' at [ROS World 2021](https://roscon.ros.org/world/2021/) (i.e. the online version of ROSCon)[[S2021](#S2021)]. A [Reference System](https://github.com/ros-realtime/reference-system) for testing and benchmarking ROS Executors has been developed for this workshop. The application of the rclc Executor on the reference system with the trigger condition can be found in the [rclc-executor branch of the Reference System](https://github.com/ros-realtime/reference-system/tree/rclc_executor). From 96e2ddfa3b9d95a96e91afcd9dc75dfa2384f4f1 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 13:12:25 +0100 Subject: [PATCH 23/27] aligned and renamed section title of Examples to be the same as in section 'Analysis of processing patterns' --- .../execution_management/index.md | 21 ++++++++++--------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 9acf28c3..ece4fd03 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -30,11 +30,11 @@ redirect_from: * [Configuration phase](#configuration-phase) * [Running phase](#running-phase) * [Examples](#examples) - * [Sense-plan-act pipeline](#sense-plan-act-pipeline) - * [Sensor fusion](#sensor-fusion) - * [High priority path](#high-priority-path) - * [Embedded use-case](#embedded-use-case) - * [ROS 2 Executor Workshop Reference System](#ros-2-executor-workshop-reference-system) + * [(1) Sense-plan-act pipeline in robotics](#(1)-sense-plan-act-pipeline-in-robotics) + * [(2) Synchronization of multiple rates](#(2)-synchronization-of-multiple-rates) + * [(3) High-priority processing path](#(3)-high-priority-processing-path) + * [(4) Real-time embedded applications](#(4)-real-time-embedded-applications) + * [(5) ROS 2 Executor Workshop Reference System](#(5)-ros-2-executor-workshop-reference-system) * [Future work](#future-work) * [Download](#download) @@ -402,7 +402,7 @@ Available spin functions are ### Examples We provide the relevant code snippets how to setup the rclc Executor for the processing patterns as described above. -#### Sense-plan-act pipeline +#### (1) Sense-plan-act pipeline in robotics In this example we want to realise a sense-plan-act pipeline in a single thread. The trigger condition is demonstrated by activating the sense-phase when both data for the Laser and IMU are available. Three executors are necessary `exe_sense`, `exe_plan` and `exe_act`. The two sensor acquisition callbacks `sense_Laser` and `sense_IMU` are registered in the Executor `exe_sense`. @@ -434,7 +434,8 @@ while (true) { rclc_executor_spin_some(&exe_act); } ``` -#### Sensor fusion + +#### (2) Synchronization of multiple rates The sensor fusion synchronizing the multiple rates with a trigger is shown below. @@ -476,7 +477,7 @@ rclc_executor_set_trigger(&exe_sense, rclc_executor_trigger_one, &sense_Laser); // spin rclc_executor_spin(&exe_sense); ``` -#### High priority path +#### (3) High priority processing path This example shows the sequential processing order to execute the obstacle avoidance `obst_avoid` after the callbacks of the sense-phase and before the callback of the planning phase `plan`. @@ -502,7 +503,7 @@ rclc_executor_set_trigger(&exe, rclc_executor_trigger_one, &sense_Laser); rclc_executor_spin(&exe); ``` -#### Embedded use-case +#### (4) Real-time embedded applications With seqential execution the co-operative scheduling of tasks within a process can be modeled. The trigger condition is used to periodically activate the process which will then execute all callbacks in a pre-defined order. Data will be communicated using the LET-semantics. Every Executor is executed in its own tread, to which an appropriate priority can be assigned. @@ -564,7 +565,7 @@ rclc_executor_data_comm_semantics(&exe, LET); rclc_executor_spin(&exe); ``` -#### ROS 2 Executor Workshop Reference System +#### (5) ROS 2 Executor Workshop Reference System The rclc Executor has been presented at the workshop 'ROS 2 Executor: How to make it efficient, real-time and deterministic?' at [ROS World 2021](https://roscon.ros.org/world/2021/) (i.e. the online version of ROSCon)[[S2021](#S2021)]. A [Reference System](https://github.com/ros-realtime/reference-system) for testing and benchmarking ROS Executors has been developed for this workshop. The application of the rclc Executor on the reference system with the trigger condition can be found in the [rclc-executor branch of the Reference System](https://github.com/ros-realtime/reference-system/tree/rclc_executor). From b21da0c4ae69a9e9e87f0bf9369410baa3cbe8b0 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 13:18:47 +0100 Subject: [PATCH 24/27] typos --- .../execution_management/index.md | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index ece4fd03..fd33cc7e 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -30,11 +30,11 @@ redirect_from: * [Configuration phase](#configuration-phase) * [Running phase](#running-phase) * [Examples](#examples) - * [(1) Sense-plan-act pipeline in robotics](#(1)-sense-plan-act-pipeline-in-robotics) - * [(2) Synchronization of multiple rates](#(2)-synchronization-of-multiple-rates) - * [(3) High-priority processing path](#(3)-high-priority-processing-path) - * [(4) Real-time embedded applications](#(4)-real-time-embedded-applications) - * [(5) ROS 2 Executor Workshop Reference System](#(5)-ros-2-executor-workshop-reference-system) + * [Sense-plan-act pipeline in robotics example](#sense-plan-act-pipeline-in-robotics-example) + * [Synchronization of multiple rates example](#synchronization-of-multiple-rates-example) + * [High-priority processing path example](#high-priority-processing-path-example) + * [Real-time embedded applications example](#real-time-embedded-applications-example) + * [ROS 2 Executor Workshop Reference System](#(5)-ros-2-executor-workshop-reference-system) * [Future work](#future-work) * [Download](#download) @@ -402,7 +402,7 @@ Available spin functions are ### Examples We provide the relevant code snippets how to setup the rclc Executor for the processing patterns as described above. -#### (1) Sense-plan-act pipeline in robotics +#### Sense-plan-act pipeline in robotics example In this example we want to realise a sense-plan-act pipeline in a single thread. The trigger condition is demonstrated by activating the sense-phase when both data for the Laser and IMU are available. Three executors are necessary `exe_sense`, `exe_plan` and `exe_act`. The two sensor acquisition callbacks `sense_Laser` and `sense_IMU` are registered in the Executor `exe_sense`. @@ -435,7 +435,7 @@ while (true) { } ``` -#### (2) Synchronization of multiple rates +#### Synchronization of multiple rates example The sensor fusion synchronizing the multiple rates with a trigger is shown below. @@ -477,7 +477,7 @@ rclc_executor_set_trigger(&exe_sense, rclc_executor_trigger_one, &sense_Laser); // spin rclc_executor_spin(&exe_sense); ``` -#### (3) High priority processing path +#### High priority processing path example This example shows the sequential processing order to execute the obstacle avoidance `obst_avoid` after the callbacks of the sense-phase and before the callback of the planning phase `plan`. @@ -503,7 +503,7 @@ rclc_executor_set_trigger(&exe, rclc_executor_trigger_one, &sense_Laser); rclc_executor_spin(&exe); ``` -#### (4) Real-time embedded applications +#### Real-time embedded applications example With seqential execution the co-operative scheduling of tasks within a process can be modeled. The trigger condition is used to periodically activate the process which will then execute all callbacks in a pre-defined order. Data will be communicated using the LET-semantics. Every Executor is executed in its own tread, to which an appropriate priority can be assigned. @@ -565,7 +565,7 @@ rclc_executor_data_comm_semantics(&exe, LET); rclc_executor_spin(&exe); ``` -#### (5) ROS 2 Executor Workshop Reference System +#### ROS 2 Executor Workshop Reference System The rclc Executor has been presented at the workshop 'ROS 2 Executor: How to make it efficient, real-time and deterministic?' at [ROS World 2021](https://roscon.ros.org/world/2021/) (i.e. the online version of ROSCon)[[S2021](#S2021)]. A [Reference System](https://github.com/ros-realtime/reference-system) for testing and benchmarking ROS Executors has been developed for this workshop. The application of the rclc Executor on the reference system with the trigger condition can be found in the [rclc-executor branch of the Reference System](https://github.com/ros-realtime/reference-system/tree/rclc_executor). From 4693bc0b6ddaa75f86028cf7fbc1fa5c11de1491 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 17:12:30 +0100 Subject: [PATCH 25/27] fix broking internal link --- _docs/concepts/client_library/execution_management/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index fd33cc7e..ceceea35 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -34,7 +34,7 @@ redirect_from: * [Synchronization of multiple rates example](#synchronization-of-multiple-rates-example) * [High-priority processing path example](#high-priority-processing-path-example) * [Real-time embedded applications example](#real-time-embedded-applications-example) - * [ROS 2 Executor Workshop Reference System](#(5)-ros-2-executor-workshop-reference-system) + * [ROS 2 Executor Workshop Reference System](#ros-2-executor-workshop-reference-system) * [Future work](#future-work) * [Download](#download) From 48bab98ce1652f430e55db01e10c6a141cb0ebe1 Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 17:37:06 +0100 Subject: [PATCH 26/27] corrected link for cbg_executor_demo --- _docs/concepts/client_library/execution_management/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index ceceea35..6d32e349 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -638,7 +638,7 @@ With the test bench, we validated the functioning of the approach. In this example, the callback for the high priority task (red line) consumes 10ms and the low priority task (blue line) 40ms in the Pong Node. With a ping rate of 20 Hz, the CPU saturates (10ms\*20+40ms\*20=1000ms). With higher frequencies the high priorty task can continue to send its pong message, while the low priority pong task degrades. With a frequency of 100Hz the high priority task requires 100% CPU utilization. With higher ping rates it keeps sending pong messages with 100Hz, while the low priority task does not get any CPU ressources any more and cannot send any messages. -The test bench is provided in the [cbg_executor_demo](https://github.com/boschresearch/ros2_demos/tree/cbg_executor_demo/cbg_executor_demo). +The test bench is provided in the [cbg_executor_demo](https://github.com/ros2/examples/tree/master/rclcpp/executors/cbg_executor). ## Related Work From 920ddb26355ddb43960bd3c71d4ae086254ca56a Mon Sep 17 00:00:00 2001 From: "Jan Staschulat (CR/ADA1.2)" Date: Thu, 16 Dec 2021 18:11:08 +0100 Subject: [PATCH 27/27] replaced links to cbg_executor source code from boschresearch repo to ros2/rclcpp repo --- .../concepts/client_library/execution_management/index.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md index 6d32e349..5a1d742a 100644 --- a/_docs/concepts/client_library/execution_management/index.md +++ b/_docs/concepts/client_library/execution_management/index.md @@ -602,20 +602,20 @@ The different callbacks of the Drive-Base node are distributed to different Exec ### API Changes In this section, we describe the necessary changes to the Executor API: -* [include/rclcpp/callback\_group.hpp](https://github.com/boschresearch/ros2_rclcpp/tree/cbg-executor-0.5.1/rclcpp/include/rclcpp/callback_group.hpp): +* [include/rclcpp/callback\_group.hpp](https://github.com/ros2/rclcpp/blob/master/rclcpp/include/rclcpp/callback_group.hpp): * Introduced an enum to distinguish up to three real-time classes (requirements) per node (RealTimeCritical, SoftRealTime, BestEffort) * Changed association with Executor instance from nodes to callback groups. -* [include/rclcpp/executor.hpp](https://github.com/boschresearch/ros2_rclcpp/tree/cbg-executor-0.5.1/rclcpp/include/rclcpp/executor.hpp) +* [include/rclcpp/executor.hpp](https://github.com/ros2/rclcpp/blob/master/rclcpp/include/rclcpp/executor.hpp) * Added functions to add and remove individual callback groups in addition to whole nodes. * Replaced private vector of nodes with a map from callback groups to nodes. -* [include/rclcpp/memory\_strategy.hpp](https://github.com/boschresearch/ros2_rclcpp/tree/cbg-executor-0.5.1/rclcpp/include/rclcpp/memory_strategy.hpp) +* [include/rclcpp/memory\_strategy.hpp](https://github.com/ros2/rclcpp/blob/master/rclcpp/include/rclcpp/memory_strategy.hpp) * Changed all functions that expect a vector of nodes to the just mentioned map. -* [include/rclcpp/node.hpp](https://github.com/boschresearch/ros2_rclcpp/tree/cbg-executor-0.5.1/rclcpp/include/rclcpp/node.hpp) and [include/rclcpp/node_interfaces/node_base.hpp](https://github.com/boschresearch/ros2_rclcpp/tree/cbg-executor-0.5.1/rclcpp/include/rclcpp/node_interfaces/node_base.hpp) +* [include/rclcpp/node.hpp](https://github.com/ros2/rclcpp/blob/master/rclcpp/include/rclcpp/node.hpp) and [include/rclcpp/node_interfaces/node_base.hpp](https://github.com/ros2/rclcpp/blob/master/rclcpp/include/rclcpp/node_interfaces/node_base.hpp) * Extended arguments of create\_callback\_group function for the real-time class. * Removed the get\_associated\_with\_executor\_atomic function.