Enabling Reproducibility in ROS 2 by Ensuring Sequence Deterministic Callback Execution

• 1. Introduction
• 2. Background
  • 2.1. ROS
  • 2.2. Dynamic Reconfiguration
  • 2.3. Software Testing
• 3. Implementation
  • 3.1. Problem Description
  • 3.2. Sources of Nondeterministic Callback Sequences
  • 3.3. Design Goals
  • 3.4. Controlling Callback Invocations
  • 3.5. Ensuring Sequence Determinism Using Callback Graphs
  • 3.6. Node and System Description
  • 3.7. Dynamic Reconfiguration
  • 3.8. Launch System
• 4. Evaluation
  • 4.1. Verification of Functionality
  • 4.2. System Setup
  • 4.3. System Integration
  • 4.4. Application to Existing Scenario
  • 4.5. Execution-Time Impact
• 5. Conclusion
• 6. Bibliography