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ROS and real time kernel

asked 2013-05-15 18:36:27 -0500

sdfzz gravatar image

updated 2013-06-05 03:14:40 -0500

130s gravatar image


I'm new to ROS, but I really need it for my project. I know there has been a few questions about ROS and real time, and I heard that ROS is NOT real time, and I need to use OROCOS if I need real time.

But, I rather not deal with OROCOS at the moment, and I would like to know if there is anyway to use a real time kernel, like rt-kernel or Xenogami, with ROS. I could not find a good instruction on how to do so..Is there any document or tutorials about it?

Any help would be appreciated



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The vanilla Linux kernel has provided quite decent real-time performance for many years. Unless you have unusually tough latency or hard-response guarantees, it will probably work fine.

joq gravatar image joq  ( 2013-05-16 15:39:01 -0500 )edit

Thank you for your reply...I will check vanilla kernel

sdfzz gravatar image sdfzz  ( 2013-05-28 14:09:47 -0500 )edit

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answered 2013-05-15 21:58:42 -0500

A non-OROCOS approach for having hard realtime guarantees in the controllers is used on the PR2. You can read some further info on that here.

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Thank you for your reply.. I guess I will try one of real time kernels...

sdfzz gravatar image sdfzz  ( 2013-05-28 14:11:35 -0500 )edit

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Asked: 2013-05-15 18:36:27 -0500

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Last updated: May 15 '13