How pr2_mechanism to use hard real-time mechanism?

asked 2011-09-30 03:42:20 -0500

sam
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pr2_mechanism doc says: The pr2_mechanism stack contains the infrastructure to control the PR2 robot in a hard realtime control loop.

When I using normal ubuntu not linux-rt,does pr2_mechanism will also make sure it can use hard real-time mechanism?

Or should I install linux-rt and install ROS on that kernel?

Thank you~

answered 2011-09-30 04:53:52 -0500

joq
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Vanilla Linux kernels have provided good real-time performance for many years. For most robotics applications, the generic Ubuntu kernel should work fine.

If you observe performance problems with your robot running your specific mix of software, there are several kernel options you can try.

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Thank you~ But when I using normal ubuntu not linux-rt,does pr2_mechanism will also make sure it can use hard real-time mechanism? Or will it just no hard rt functionalities?

sam ( 2011-10-19 14:32:11 -0500 )edit

The vanilla Ubuntu kernel provides soft realtime, which is good enough for most robotics. It supports POSIX realtime scheduling. If you believe you need harder guarantees, you should first measure the jitter while running your actual hardware and software.