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In this work we present an experimental setup to show the suitability of ROS2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0communications in a robotic inter-component (hardware) communication case ontop of Linux. We benchmark and study the worst case latencies and misseddeadlines to characterize ROS 2.0 communications for real-time applications. Wedemonstrate experimentally how computation and network congestion impacts thecommunication latencies and ultimately, propose a setup that, under certainconditions, mitigates these delays and obtains bounded traffic.

Towards a distributed and real-time framework for robots: Evaluation of ROS 2.0 communications for real-time robotic applications