RTAI - ROS integration

asked 2018-02-01 05:23:30 -0600

TraiBo gravatar image

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.

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Comments

My thoughts are that it would definitely be possible.

gvdhoorn gravatar image gvdhoorn  ( 2018-02-02 04:10:15 -0600 )edit

May I know the testing mechanism to ensure that preemption of task or process is happening at right time intervals?

TraiBo gravatar image TraiBo  ( 2018-02-07 01:49:49 -0600 )edit

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.

gvdhoorn gravatar image gvdhoorn  ( 2018-02-07 02:23:28 -0600 )edit

For related Q&As, see #q191288 and #q206052.

gvdhoorn gravatar image gvdhoorn  ( 2018-02-07 02:26:07 -0600 )edit

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.

gvdhoorn gravatar image gvdhoorn  ( 2018-02-07 02:27:05 -0600 )edit

See also the presentation by @Jan Carstensen at ROSCon16: RTROS – A real-time extension to the Robot Operating System (video).

gvdhoorn gravatar image gvdhoorn  ( 2018-02-07 02:36:34 -0600 )edit