The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
If you're talking to the controller over a CAN bus, which is not realtime safe. There's no way to implement a realtime controller in software.
A common way to do a realtime controller is to have the realtime thread and a non-realtime thread which does the external communications, and passes data into the realtime thread in a lock free manner. You can do this but it's not going to be worth the effort if you're on the other side of a CAN bus. Realtime requirements are about guaranteeing maximum response times, if there's ever a link which cannot provide those guarantees you cannot continue to be realtime beyond that connection.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
