Mixed-Critical Framework for ROS2

As IoT technology develops, the demand for using robots in safety- and mission-critical environments has gradually emerged. In such scenario, it is important to ensure that specific tasks are completed within their deadlines. ROS2, a representative operating system for robots, has advantages in convenience of development and hardware abstraction but has a drawback in fully guaranteeing real-time capabilities. This drawback can cause significant problems when numerous high-critical tasks are present. We aim to address these issues through a mixed-critical system for ROS2. To this end, we propose the algorithm for our framework and demonstrate it through experiments using a simulator that can verify our approach. As a result of the experiment, our framework always showed a critical high callback deadline satisfaction rate that was better than EDF.