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I'm controlling an industrial robot (DENSO) on realtime and the control cycle is 8msec (It's a conservative parameter).
The configuration is:
[ROS MACHINE] <--||ether||--> [Robot Controller PC] <--> Robot
The ROS MACHINE uses low-latency kernel and the thread which communicates with Robot Controller PC runs as a RT process (max pthread priority).
And the communication between ROS MACHINE and Robot Controller PC is on UDP/IP. The protocol is not ROS topic/service communication and it's a special stuff provided by the Robot Controller PC.
I found that TCP/IP communication is not reliable in order to achieve realtime communication over ethernet.
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