TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS

The micro-ROS is widely used to bridge the gap between resource-constrained microcontrollers and larger processors in ROS-based robotic applications. We found that there are some performance issues in micro-ROS because of the unreasonable design of the micro-ROS default RCLC Executor. To improve the timing predictability and run-time efficiency in micro-ROS, we have designed and implemented a new executor called the TIDE Executor, and conducted comprehensive experiments to evaluate the TIDE Executor. The experimental results demonstrate that our TIDE Executor exhibits superior performance compared to the default RCLC Executor.