ROSGuard: A Bandwidth Regulation Mechanism for ROS2-based Applications

Abstract

Multicore timing interference, arising when multiple requests contend for the same shared hardware resources, is a primary concern for timing verification and validation of time-critical applications. Bandwidth control and regulation approaches have been proposed in the literature as an effective method to monitor and limit the impact of timing interference at run time. These approaches seek for fine-grained control of the bandwidth consumption (at the microsecond level) to meet stringent timing requirements on embedded critical systems. Such granularity and configurations, while effective, can become an entry barrier for the application of bandwidth control to a wide class of productized, modular ROS2 applications. This is so because those applications have less stringent timing requirements but would still benefit from bandwidth regulation, though under less restrictive, and therefore more portable, granularity and configurations. In this work, we provide ROSGuard, a highly-portable, modular implementation of a timing interference monitoring and control mechanism that builds on the abstractions available on top of a generic and portable Linux-based software stack with the Robotic Operating System 2 (ROS2) layer, a widespreadedly adopted middleware for a wide class of industrial applications, far beyond the robotic domain. We deploy ROSGuard on an NVIDIA AGX Orin platform as a representative target for functionally rich distributed AI-based applications and a set of synthetic and real-world benchmarks. We apply an effective bandwidth regulation scheme on ROS2-based applications and achieve comparable effectiveness to specialized, finer-grained state-of-the-art solutions.