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how to communicate the hardware to a realtime controller

hi guys!

Let say that I'm using an action server to request some action to my realtime controller. And let say that my hardware (motors and sensors) are being communicating trough a CANBus (not realtime) and I have a node to parse the CAN messages and read/write over the bus. The question is how to link up the "CAN node-driver" to the controller in a "realtime-safe way". I should use another action client? I should use services?

PS: the message parser communicates with the bus using treads, and currently is not linked with the realtime controller.

thank you in advance!

how to communicate the hardware to a realtime controller

hi guys!

Let say that I'm using an action server to request some action to my realtime controller. And let say that my hardware (motors and sensors) are being communicating trough a CANBus (not realtime) and I have a node to parse the CAN messages and read/write over the bus. The question is how to link up the "CAN node-driver" to the controller in a "realtime-safe way". I should use another action client? I should use services?

PS: the message parser communicates with the bus using treads, and currently is not linked with the realtime controller.

thank you in advance!

how to communicate the hardware to a realtime controller

hi guys!

Let say that I'm using an action server to request some action to my realtime controller. And let say that my hardware (motors and sensors) are being communicating trough a CANBus (not realtime) and I have a node to parse the CAN messages and read/write over the bus. The question is how to link up the "CAN node-driver" to the controller in a "realtime-safe way". I should use another action client? I should use services?

PS: the message parser communicates with the bus using treads, and currently is not linked with the realtime controller.

thank you in advance!

how to communicate the hardware to a realtime controller

hi guys!

Let say that I'm using an action server to request some action to my realtime controller. And let say that my hardware (motors and sensors) are being communicating trough a CANBus (not realtime) and I have a node to parse the CAN messages and read/write over the bus. The question is how to link up the "CAN node-driver" to the controller in a "realtime-safe way". I should use another action client? I should use services?

PS: the message parser communicates with the bus using treads, and currently is not linked with the realtime controller.

thank you in advance!