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I think this is a very interesting discussion. ROS at the moment neither is a realtime robotic framework nor has integration with any of these Real Time OS. AFAIK the only you can do is send strategical/non-realtime orders to a real-time system (ie: realtime microcontroller like arduino) and it would be the responsable to acomplish the real time goals. See: http://www.ros.org/wiki/rosserial

There are other robotic software frameworks like looks more prepared to work for real time systems like: YARP or OROCOS. See this paper to know which operative systems they support.

However there are some packages that looks prepared to work for real time systems: http://www.ros.org/wiki/pr2_mechanism?distro=groovy It's not to much well explained how these mechanisms work in real time over a non-real time system like ubuntu-linux (Perhaps they don't run on ubuntu. The PR2 experts should know it)

I think this is a very interesting discussion. ROS at the moment neither is a realtime robotic framework nor has integration with any of these Real Time OS. AFAIK the only you can do is send strategical/non-realtime orders to a real-time system (ie: realtime microcontroller like arduino) and it would be the responsable to acomplish the real time goals. See: http://www.ros.org/wiki/rosserial. Of course the realtime contstraints wouldn't be warranted until the rt-microcontroler has received the commands (since the rosserial communications are not realtime).

There are other robotic software frameworks like looks more prepared to work for real time systems like: YARP or OROCOS. See this paper to know which operative systems they support.

However there are some packages that looks prepared to work for real time systems: http://www.ros.org/wiki/pr2_mechanism?distro=groovy It's not to much well explained how these mechanisms work in real time over a non-real time system like ubuntu-linux (Perhaps they don't run on ubuntu. The PR2 experts should know it)