Real-time modeling and analysis of a smart mobility use case running on heterogeneous MPSoC hardware and ROS 2

Abstract The current trend in industrial applications is evolving towards heterogeneous platforms that integrate multiple processors and specialized accelerators within a single MPSoC (MultiProcessor System on Chip). Simultaneously, many of these applications have stringent timing requirements that must be met through the appropriate management of concurrency, synchronization, and the deployment of activities across the available computing elements in a distributed environment. In this context, Robot Operating System 2 (ROS 2) is gaining importance as a middleware for distributed systems in the automotive industry. This paper presents the real-time modeling and analysis of a smart mobility application running on a testbed based on MPSoC processors and ROS 2. While a comprehensive analysis of the use case under different configurations is presented, the main contribution is to provide the scientific community with a detailed generic model. This model serves as a benchmark for testing current and future techniques for the modeling, analysis, and optimization of real-time systems based on heterogeneous platforms while highlighting some challenges to be addressed.