@inproceedings{jiang2022real,
  title={Real-time scheduling and analysis of processing chains on multi-threaded executor in ros 2},
  author={Jiang, Xu and Ji, Dong and Guan, Nan and Li, Ruoxiang and Tang, Yue and Wang, Yi},
  booktitle={2022 IEEE Real-Time Systems Symposium (RTSS)},
  pages={27--39},
  year={2022},
  organization={IEEE}
}