@inproceedings{li2023worst,
  title={Worst-Case Latency Analysis of Message Synchronization in ROS},
  author={Li, Ruoxiang and Jiang, Xu and Dong, Zheng and Wu, Jen-Ming and Xue, Chun Jason and Guan, Nan},
  booktitle={2023 IEEE Real-Time Systems Symposium (RTSS)},
  pages={185--197},
  year={2023},
  organization={IEEE}
}