RTAI - ROS integration
I would like to create a Real time ROS node using RTAI (Real time Framework). I have already installed the RTAI patch in my PC and I would like to launch a basic ROS node to work under real time basis. Please give your thoughts on this.
My thoughts are that it would definitely be possible.
May I know the testing mechanism to ensure that preemption of task or process is happening at right time intervals?
My comment was slightly tongue-in-cheek: your question does not contain enough information. What are you trying to do exactly? ROS 1 is inherently non real-time safe (dynamic mem allocation, networking system calls, etc), adding RTAI is most likely not enough.
For related Q&As, see #q191288 and #q206052.
Note that I ask what you are trying to do exactly, as getting the entirety of ROS real-time safe/capable is probably impossible, but running certain threads in a ROS node in a hard real-time context (taking special care when communicating between that thread and the rest) should be possible.
See also the presentation by @Jan Carstensen at ROSCon16: RTROS – A real-time extension to the Robot Operating System (video).