AROSpect: A ROS 2 Timing Introspection Framework

Abstract

This paper introduces AROSpect, a framework for timing introspection and controlled experimentation for ROS 2-based applications. AROSpect enables developers to model system components using standardized templates, inject synthetic delays, and measure end-to-end latencies across message paths. Through instrumentation, the framework supports iterative refinement of timing parameters and identification of misconfigurations. A case study using a multi-agent turtlesim system demonstrates how AROSpect can guide developers to understand the effects of adapting timing parameters, contributing toward more predictable robotic systems.