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Thread Carefully: Preventing Starvation in the ROS 2 Multithreaded Executor
the state- of-the-art response-time analyses by Jiang et al. (RTSS 2022) and Sobhani et al. (RTAS 2023). We propose a minimal change in the software architecture of the ROS 2 multithreaded executor to [...] single-threaded executor. Furthermore, they highlighted that tasks may be removed from the wait set. In 2023, Sobhani et al. [9] provided an analysis for constrained and arbitrary deadline systems with multithreaded [...] ROS 2,” in Proc. Real-Time Syst. Symp. (RTSS), 2022, pp. 27–39.
[7] “ROS 2: Humble,” Open Robotics. 2023. [Online]. Available: https://docs.ros.org/en/humble
[8] M. Quigley et al., “ROS: An open-source robot …
