Work-in-Progress: Function-as-Subtask API Replacing Publish/Subscribe for OS-Native DAG Scheduling

Takahiro Ishikawa-Aso, Atsushi Yano, Yutaro Kobayashi +3

The Directed Acyclic Graph (DAG) task model for real-time scheduling finds its primary practical target in Robot Operating System 2 (ROS 2). However, ROS 2's publish/subscribe API…