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What real-time mechanism of PR2 use?

asked 2011-09-28 05:15:21 -0500

sam gravatar image

updated 2014-11-22 17:05:38 -0500

ngrennan gravatar image

Is PR2 using Orocos or linux-rt?

Is PR2 using soft real-time or hard real-time?

Is Orocos an soft real-time modules?

Thank you~

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answered 2011-09-28 11:32:57 -0500

KoenBuys gravatar image

1.) it has one rt process (look HERE), an Orocos controller for the PR2 is on our TODO list.

2.) see link above

3.) it is as real-time as your kernel allows it, if you have a real-time kernel it is hard real-time if you use pre-empt kernel or xenomai.

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So if I want to use rt process,should I install ROS on linux-rt kernel?
sam gravatar image sam  ( 2011-09-28 13:22:34 -0500 )edit
A general linux scheduler can't provide you any guaranties, however sometimes it does satisfy for mobile robotic manipulators. ROS also is not optimal for real-time.
KoenBuys gravatar image KoenBuys  ( 2011-09-30 07:10:02 -0500 )edit

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Asked: 2011-09-28 05:15:21 -0500

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Last updated: Sep 28 '11