Test bench. 3.1. The test bench shall be constructed as follows:
3.1.1. a rigid back, fixed, dimensions of which are given in Appendix 1 to this annex;
3.1.2. Rigid seating, made from a rigid metal sheet, dimensions of which are given in Appendix 1 to this annex;
3.1.3. for access to the ISOFIX anchorage system, openings shall be made at the rear of the test bench seat cushion, as prescribed in Appendix 1 to this Annex;
3.1.4. the width of the test bench shall be 800 mm;
3.1.5. the back and the seating shall be covered with polyurethane foam, the characteristics of which are given in Table 1. The dimensions of the cushion are given in Appendix 1 to this annex; Table 1 Standard Value Unit Density EN ISO 000 00-00 Kg/m3 Compression Resistance EN ISO 3386/1 (40% compression) 13 kPa Tensile strenght EN ISO 1798 ≥ 150 kPa Ultimate Elongation EN ISO 1798 ≥ 120 % Compression set EN ISO 1856 (22hr/50%/70°C) ≤ 3 %
3.1.6. The polyurethane foam shall be covered with a sun shade cloth, made of poly-acrylate fibre, the characteristics of which are given in Table 2. Table 2 Specific mass (g/m2) Breaking strength according to DIN 53587 on test specimen 50 mm wide: lengthwise (kg): breadth wise (kg): 290 120 80
Test bench. 3.1. The test bench shall be constructed as follows:
3.1.1. a rigid back, fixed, dimensions of which are given in Appendix 1 to this annex;
3.1.2. rigid seating, made from a rigide metal sheet, dimensions of which are given in Appendix 1 to this Annex. The rear part of the seating is made from a rigid sheet metal,. The front part of the seating is also made of a 20 mm diameter tube;
3.1.3. for access to the ISOFIX anchorage system, openings shall be made at the rear of the test bench seat cushion, as prescribed in Appendix 1 to this Annex;
3.1.4. the width of the test bench shall be 800 mm;
3.1.5. the back and the seating shall be covered with polyurethane foam, the characteristics of which are given in Table 1. The dimensions of the cushion are given in Appendix 1 to this annex; Table 1 Standard Value Unit Density EN ISO 000 00-00 Kg/m3 Compression Resistance EN ISO 3386/1 (40% compression) 13 kPa Indentation Load Deflection (ILD) EN ISO 2439B (40% compression) 500 480 (+/15%) N Tensile strenght EN ISO 1798 ≥ 150 kPa Ultimate Elongation EN ISO 1798 ≥ 120 % Compression set EN ISO 1856 (22hr/50%/70°C) ≤ 3 %
3.1.6. The polyurethane foam shall be covered with a sun shade cloth, made of poly-acrylate fibre, the characteristics of which are given in Table 2. Table 2 Specific mass (g/m2) Breaking strength according to DIN 53587 on test specimen 50 mm wide: lengthwise (kg): breadth wise (kg): 290 120 80
Test bench. As a proof of concept, we implemented a small test bench in the present package cbg-executor_ping- pong_cpp. The test bench comprises a Ping node and a Pong node which exchange real-time and best-effort messages simultaneously with each other. Each class of messages is handled with a ded- icated Executor, as illustrated in the following figure. we validated the functioning of the approach. With the test bench, In this example, the callback for the high priority task (red line) consumes 10ms and the low priority task (blue line) 40ms in the Pong Node. With a ping rate of 20 Hz, the CPU saturates (10ms*20+40ms*20=1000ms). With higher frequencies the high priorty task can continue to send its pong message, while the low priority pong task degrades. With a frequency of 100Hz the high priority task requires 100% CPU utilization. With higher ping rates it keeps sending pong messages with 100Hz, while the low priority task does not get any CPU ressources any more and cannot send any messages. The test bench is provided in the cbg_executor_demo.
Test bench. As a proof of concept, we implemented a small test bench in the present package cbg-executor_ping- pong_cpp. The test bench comprises a Ping node and a Pong node which exchange real-time and best-effort messages simultaneously with each other. Each class of messages is handled with a ded- icated Executor, as illustrated in the following figure. With the test bench, we validated the functioning of the approach - here on ROS 2 v0.5.1 with the Fast-RTPS DDS imple- mentation - on a typical laptop. The test bench is provided in the bg-executor_ping-pong_cpp package of the micro-ROS_experiments repository.
