The paper proposes CallbackIsolatedExecutor, a ROS 2 executor with one OS thread per callback, and measures its user-kernel switches, context switches, and memory overhead against standard executors.
Automatic latency management for ROS 2: Benefits, challenges, and open problems,
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Work in Progress: Middleware-Transparent Callback Enforcement in Commoditized Component-Oriented Real-time Systems
The paper proposes CallbackIsolatedExecutor, a ROS 2 executor with one OS thread per callback, and measures its user-kernel switches, context switches, and memory overhead against standard executors.