Initial commit

3rd-party-licenses.txt

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+Third Party Licenses
+====================
+
+This repository does not include any third-party components.

LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2018 Robert Bosch GmbH
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+# About
+
+This is the companion code for the ECRTS 2019 paper *Response-Time Analysis of ROS 2 Processing
+Chains under Reservation-Based Scheduling*. The source code comprises two components
+
+1. A [model validation test](model_validation) that validates our model of the ROS 2 callback scheduling by sending messages to a node and reporting their execution ordering.
+2. [case_study](case_study), a prototypical implementation of the proposed response-time analysis, together with a model of the `move_base` stack that is used in the paper's case study.
+
+Please cite the above paper when reporting, reproducing or extending the results.
+
+## Purpose of the project
+
+This software is a research prototype, solely developed for and published as
+part of the publication cited above. It will neither be
+maintained nor monitored in any way.
+
+## Requirements, how to build, test, install, use, etc.
+
+This repository consists of independent components. Please refer to the README files in the respective subdirectories for instructions.
+
+## License
+
+This work is open-sourced under the BSD-3-Clause license. See the
+[LICENSE](LICENSE) file for details.
+
+This work does not include any third-party components.

case_study/README.md

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+# Overview
+
+This repository contains the source code for the case study of the ECRTS 2019 paper "Response-Time Analysis of ROS 2 Processing Chains under Reservation-Based Scheduling".
+The code is based on the [pyCPA](https://bitbucket.org/pycpa/pycpa) for compositional performance analysis. It consists of two parts: `ros.py`, which extends pyCPA with the analysis described in the paper, and `move_base.py`, which creates the system model, runs the analysis and visualizes the results.
+
+# Instructions
+
+* Install pyCPA as described [here](https://pycpa.readthedocs.io/en/latest/install.html)
+
+To reproduce the graphs in the paper, simply run the move_base.py script. It generates the graphs (`latency_per_budget.pdf` and `latency_per_jitter.pdf`) as well as visualizations of the system model (`<model name>-<number of reservations>.pdf`) as generated by pyCPA's `graph_system` function.
+
+Note: Generating the graphs will generate a couple of warnings of the form 
+`WARNING: load too high: load on R0 is 1.225124`. This is normal and expected, and appears when the pyCPA analysis detects, that a given reservation assignment is unschedulable. The graph only shows schedulable systems.