Is this possible to modify ros controller for xenomai

asked 2019-11-13 01:36:13 -0600

dinesh gravatar image

Am am beginning to learn linux kernel programming and xenomai stuff. I have small question... is it possible to modify the ros controll pkg with xenomai so that it can provided hard real control? And also is it possible to modify all other ros pkgs like rqt, rviz to do so? I have a 2 axix link in my robot with needs to be preciously and accurately controlled with resolution of 0.01 degree and other process/nodes running which communicated data with other sensors like imu, camera, lidar etc.

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It may be interesting to take a look at orocos/rtt_ros_control.

gvdhoorn gravatar imagegvdhoorn ( 2019-11-13 02:00:52 -0600 )edit

I've seen that. but orocos and rtt_ros_control is no more managed by the orocos developer... nor they have active forum, site, or tutorials now. so orocos is no more useful.

dinesh gravatar imagedinesh ( 2019-11-13 03:56:32 -0600 )edit

My intention was to show you that what you ask ("can ros_control be used in a hard real-time context") is possible, as that is exactly what rtt_ros_control does.

It was not my intention to provide you with a readily reusable bit of software.

There is no assumption about the execution environment in ros_control. All standard controllers have been written with deterministic execution in mind, so as long as whatever is calling ControllerManager::update(..) is real-time capable, so will all controllers be.

gvdhoorn gravatar imagegvdhoorn ( 2019-11-13 04:16:17 -0600 )edit

so orocos is no more useful.

I can assure you that OROCOS is still being used and is certainly still relevant and useful. See ROCK fi.

It may not have a very big community, but that is not the only measure of "useful".

gvdhoorn gravatar imagegvdhoorn ( 2019-11-13 04:19:51 -0600 )edit