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If you have hard realtime requirements (e.g. can´t miss a deadline, otherwise system failure) you can either use a hard realtime Linux approach using a RT-PREEMPT Kernel (or alternatives like Xenomai and RTAI) with rosrt or Orocos RTT. The other option is offloading the hard real-time critical part to a microcontroller and talking to that using rosserial or another approach. As microcontrollers get more powerful and are increasingly easier to integrate with ROS, I´d recommend the second option. Dealing with hard realtime Linux systems can be very frustrating as they are not very widely used and debugging problems can become very hard.