eldorado.tu-dortmund.de/server/api/core/bitstreams/ab74a5b0-fa69-4c3b-a98a-10e43c5183a3/content
Thread Carefully: Preventing Starvation in the ROS 2 Multithreaded Executor
τ1 = [1, (1/3)], τ2 = [1, (1/3)], τ3 = [(1/2), (1/3)], and τ4 = (5, 0.01), where g = {τ3, τ4} is a mutually exclusive callback group. Since τ1 and τ2 occupy both processors in parallel, τ3 is only started [...] in Example 6 and Fig. 7, with three timers τ1 = [1, (1/3)], τ2 = [1, (1/3)], τ3 = [(1/2), (1/3)], and one subscription τ4 = (0.01), where g = {τ3, τ4} is a mutually exclusive callback group and tasks τ1 [...] at time (1/3). Multiple polling points are initiated between time (1/3) and time (2/3) since Thread 2 idles (with the first of these polling points removing the instance of τ4). At time (2/3), the polling …
