Welcome to the ROS 2 DEF documentation!

This is the Deterministic Execution Framework for ROS 2. It allows fully deterministic execution of a ROS 2 stack, given deterministic ROS nodes. The User Docs are intended for users who wish to integrate this into their own ROS 2 stack. The Developer Docs serve as a reference for the implementation of the framework and the orchestrator itself.

In Thesis, the contents of the master’s thesis can be found, in which this framework was initially created. For a description of the problem of nondeterminism in ROS 2 stacks, see Problem Description and following. The scope of this framework is outlined in Design Goals.

Contents:

• User Docs
  • Adapting Data Sources
  • Adapting Nodes
  • C++ Helper Classes
  • Launch Configs
• Developer Docs
  • Callback Graph
  • Topic Interception
  • Node Models
  • Debugging
• Thesis
  • 1. Introduction
  • 2. Background
  • 3. Implementation
  • 4. Evaluation
  • 5. Conclusion
  • 6. Bibliography

Indices and tables

• Index

• Module Index

• Search Page