End-to-End Latency Optimization of Thread Chains Under the DDS Publish/Subscribe Middleware

Modern autonomous systems integrate diverse soft-ware solutions to manage tightly communicating functionalities. These applications commonly communicate using frameworks implementing the publish/subscribe paradigm, such as the Data Distribution Service (DDS). However, these frameworks are real-ized with a multi-threaded software architecture and implement internal policies for message dispatching, posing additional chal-lenges for guaranteeing timing constraints. This work addresses the problem of optimizing a DDS-based interconnected real-time systems, proposing analysis-driven algorithms to set a vast range of parameters, ranging from classical thread priorities to other DDS-specific configurations. We evaluate our approaches on the Autoware Reference System, a realistic testbed from the Autoware autonomous driving framework.