Automatic Latency Management for ROS 2: Benefits, Challenges, and Open Problems

Robotic systems are typically subject to real-time constraints. Still, the ROS ecosystem—the most popular repository of open-source robotics software—exhibits little evidence of the use of real-time theory to bound or control worst-case response times. Hurdles to adoption are the amount of expertise required to correctly use real-time scheduling mechanisms and the inherent unpredictability of typi...