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March 3, 2026Open Access

A Docker-Enabled Real-Time Framework for Robotic Applications in Heterogeneous ROS 2 Environments

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Authors

JLJi Min LimKKKeon Woo KimBCByoung Wook Choi

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Overview

Framework evaluates real-time performance in robotic applications using Docker and ROS 2, suggesting effective deployment strategies.

Key Points

  • The aim is to develop a framework that assesses real-time performance of robotic applications in mixed ROS 2 environments.
  • Developed a Docker-enabled framework integrating an RT-PREEMPT–patched Linux kernel and Dockerized ROS 2 distributions.
  • Implemented configurable cross-version communication pathways.
  • Conducted empirical evaluation of Docker's effects on real-time execution including metrics such as periodicity, jitter, and response time.
  • Assessed ROS 2 communication latency in various configurations: host-only, container-only, and hybrid.
  • Quantified the real-time execution effects introduced by Docker, such as increased latency and jitter.
  • Validated the functionality of a mobile robot use case that combines legacy control code with new modules.
  • Provided actionable guidelines for deploying ROS 2 systems efficiently in heterogeneous environments.

Cite This Study

Lim et al. (2026) studied this question.

synapsesocial.com/papers/69a67ed1f353c071a6f0a609https://doi.org/10.3390/pr14050804
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