Table 4 Comparison of real-time performance between Native-Linux and PREEMPT-RT-Linux
From: ROS2 Real-time Performance Optimization and Evaluation
Item | Period (µs) | Native-Linux (µs) | PREEMPT-RT-Linux (µs) |
|---|---|---|---|
Minimum | 1000 | 2 | 1 |
1500 | 2 | 1 | |
2000 | 2 | 1 | |
2500 | 2 | 1 | |
3000 | 2 | 1 | |
Maximum | 1000 | 3697 | 67 |
1500 | 4973 | 64 | |
2000 | 6243 | 70 | |
2500 | 3802 | 82 | |
3000 | 3542 | 64 | |
Average | 1000 | 3 | 1 |
1500 | 3 | 2 | |
2000 | 3 | 2 | |
2500 | 3 | 2 | |
3000 | 3 | 1 |