The Robot Operating System (ROS) is a popular robotics middleware framework. In the last years, it underwent a redesign and reimplementation under the name ROS~2. It now features QoS-configurable communication and a flexible layered architecture. Micro-ROS is a variant developed specifically for resource-constrained microcontrollers (MCU). Such MCUs are commonly used in robotics for sensors and actuators, for time-critical control functions, and for safety. While the execution management of ROS 2 has been addressed by an Executor concept, its lack of real-time capabilities make it unsuitable for industrial use. Neither defining an execution order nor the assignment of scheduling parameters to tasks is possible, despite the fact that advanced real-time scheduling algorithms are well-known and available in modern RTOS's. For example, the NuttX RTOS supports a variant of the reservation-based scheduling which is very attractive for industrial applications: It allows to assign execution time budgets to software components so that a system integrator can thereby guarantee the real-time requirements of the entire system. This paper presents for the first time a ROS~2 Executor design which enables the real-time scheduling capabilities of the operating system. In particular, we successfully demonstrate the budget-based scheduling of the NuttX RTOS with a micro-ROS application on an STM32 microcontroller.

中文翻译：

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行业简报：基于预算的Micro-ROS实时执行器

机器人操作系统（ROS）是一种流行的机器人中间件框架。在过去的几年中，它以ROS〜2的名义进行了重新设计和重新实现。现在，它具有可配置QoS的通信和灵活的分层体系结构。Micro-ROS是专门为资源受限的微控制器（MCU）开发的一种变体。此类MCU通常用于机器人技术中的传感器和执行器，对时间要求严格的控制功能以及安全性。尽管执行器概念已解决了ROS 2的执行管理问题，但由于它缺乏实时功能，因此不适合工业使用。尽管先进的实时调度算法是众所周知的，并且在现代RTOS中可用，但既不能定义执行顺序，也不能为任务分配调度参数。例如，NuttX RTOS支持基于保留的调度的变体，这对工业应用非常有吸引力：它允许将执行时间预算分配给软件组件，从而使系统集成商可以保证整个系统的实时需求。本文首次提出了ROS〜2执行器设计，该设计可实现操作系统的实时调度功能。特别是，我们成功地演示了在STM32微控制器上使用micro-ROS应用程序对NuttX RTOS进行基于预算的调度。本文首次提出了ROS〜2执行器设计，该设计可实现操作系统的实时调度功能。特别是，我们成功地演示了在STM32微控制器上使用micro-ROS应用程序对NuttX RTOS进行基于预算的调度。本文首次提出了ROS〜2执行器设计，该设计可实现操作系统的实时调度功能。特别是，我们成功地演示了在STM32微控制器上使用micro-ROS应用程序对NuttX RTOS进行基于预算的调度。