docs: add comparison table of real-time executors#33
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atsushi421 merged 4 commits intomainfrom Feb 15, 2026
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Pull request overview
Adds a documentation page that compares real-time related scheduling characteristics of CallbackIsolatedExecutor against the ROS 2 default executors and several executors from academic literature.
Changes:
- Introduces a set of real-time scheduling criteria definitions used for comparison.
- Adds a comparison table covering 10 executors across 6 criteria.
- Adds a references section citing the related papers.
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Description
Add a document comparing CallbackIsolatedExecutor with other ROS 2 executors from the real-time performance perspective.
The comparison covers six criteria: Immediate Enqueue, Per-Callback Priority, Non-Nested Scheduling, Fully Preemptive, Support for Reentrant Callbacks, and ROS 2 Mainline compatibility, across 10 executors from academic literature.
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Notes for reviewers
This is a documentation-only change. No code modifications.