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What real-time mechanism of PR2 use?

asked 2011-09-28 05:15:21 -0600

sam
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updated 2014-11-22 17:05:38 -0600

ngrennan
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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 -0600

KoenBuys
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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 ( 2011-09-28 13:22:34 -0600 )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 ( 2011-09-30 07:10:02 -0600 )edit

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