ROS2 Extension of Functionally and Temporally Correct Real-Time Simulation of Cyber Systems for Automotive Systems

For developing automotive systems, it is important to validate the system performance at the design phase. For this, the simulation methodology is commonly used for the validation of the automotive systems. However, if there is a gap between real performance and simulation result, developers need to go through the process of redesigning and implementing the system which increases the developing cost. For this, we have a novel simuation approach that gurantees functional and temporal correctness while enjoying the freedom of job scheduling. However we cannot apply this approach directly to the ROS2 cyber system which has become popular by its open source community and supporting real-time features because of different task execution behaviors. Therefore, we propose an extended approach which defines new system model for the cyber system based on ROS2 framework to keep the functional and temporal correct simulation approach on the ROS2 cyber system.