What are the main differences between rosrt and realtime_tools?
In ROS we can find two different packages to use publishers and subscribers in real-time:
- realtimetools (in roscontrol) http://wiki.ros.org/realtime_tools?distro=hydro
- rosrt (in ros_realtime) http://wiki.ros.org/rosrt?distro=groovy
The capacities of both packages look overlapped. Is any of them obsolete? Are they being developed by different research groups? realtime_tools looks more updated, however it does not provide a realtime subscriber. What are the main differences? What are the future guidelines of each project?
Asked by Pablo Iñigo Blasco on 2013-12-17 00:24:00 UTC
Answers
They indeed complement and overlap each other. realtime_tools
is part of ros_control and used/maintained. I don't know about the status of ros_realtime
, but at least it has functionality that is currently lacking in realtime_tools
. I wondered the same thing as you some months ago, but did not have the resources to get it done.
Asked by Adolfo Rodriguez T on 2013-12-17 10:42:02 UTC
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But I do not understand why ros_control package (that is a quite new package) contains functionality that existed previously. It should exist some reason. I don't know, for instance, does the realtime_tools::RealTimePublisher provide any advantaje over the rosrt::Publisher?
Asked by Pablo Iñigo Blasco on 2013-12-26 23:09:33 UTC
Both packages existed pre-ros_control. One was included in ros_control and updated as it provided some baseline functionality. The effort to do the same for ros_realtime
and unify implementations has not yet been done.
Asked by Adolfo Rodriguez T on 2013-12-30 11:32:59 UTC
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