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ROS2, Micro-ROS & intra-process

Dear (Micro-)ROS developers,

From an applied research point of view, we are interested in understanding to what extent we will be able to use ROS2 inside a machine control environment. Based on current positioning and experience with DDS and ROS2, we seem to reach the limits once the realtime needs exceed the boundaries of a single Node.

The multi-priority initiative of Micro-ROS and the focus on intra-process & RT optimizations in the mainstream ROS2 seem promising to us, so we would like to follow-up on this. Unfortunately, when reading the documentation and posts, I get somewhat confused about how you plan to realize the realtime aspects of communication. Some fragments of what I've been reading from different sources:

No need to answer the individual questions/observations above, since they originate from my confusion around the topic or misinterpretation of available info.

Questions:

Asked by qootec on 2019-09-17 03:24:18 UTC

Comments

I'm not sure what the preferred method of communication is of the micro-ROS/OFERA developers/participants, but please be aware that it may be some time before they respond to this post.

ROS Answers is 'just' a community forum, not a dedicated communication channel for all ROS(2)-related (EU) projects.

Asked by gvdhoorn on 2019-09-17 03:41:48 UTC

My mistake, they point to https://discourse.ros.org/c/embedded as the most suitable location. I guess I shouldn't be cross-posting, so I'll close my question here and move it to that other forum.

Asked by qootec on 2019-09-17 05:00:45 UTC

Hmmm, when trying to post to discourse, their forum indicates that questions need to go to answers.ros.org anyway, so now I'm stuck. Can you reopen?

Asked by qootec on 2019-09-17 05:06:29 UTC

Stretching the definition a bit, what you posted could be considered more of a discussion topic than a single question.

ROS Discourse is meant for discussions, and I believe in this case your post would be OK on Discourse.

If you post there, link to your post here (to provide context) and mention that you've been advised to post on Discourse by both a moderator here (ie: me) and the developers of micro-ROS (by reading their docs).

Asked by gvdhoorn on 2019-09-17 05:09:52 UTC

Answers