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Real-time for ROS? Questions/Comments to paul.bouchier@gmail

Real-time for ROS? Questions/Comments to paul.bouchier@gmail.com. ROS: What’s Next?. ROS packages bring great value. Time-critical ROS packages Path plan updates SLAM RobotX Navigation RobotX safety nodes (can include laser scan & vision).

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Real-time for ROS? Questions/Comments to paul.bouchier@gmail

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  1. Real-time for ROS?Questions/Comments to paul.bouchier@gmail.com ROS: What’s Next? ROS packages bring great value Time-critical ROS packages Path plan updates SLAM RobotX Navigation RobotX safety nodes (can include laser scan & vision) • Ready-built solutions to a wide range of problems in a common framework • Should they be enhanced to provide timing guarantees? Commercial Products? • Robots need real-time guarantees for product-level performance Realtime Defined: • System may fail if timing specifications not met (hard) • System performance may degrade if timing specifications not met (soft) • Does not imply high frame rate

  2. State of the art Linux PC or PCs embedded in robot Run real-time subsystems in an external (non-ros) processing system Consequences ROS packages Can’t use vision/laser in realtime control loops (e.g. Move-it) (Or run system slowly) ROS Nodes (navigation, planning, etc.) Examples • Ros-Industrial uses robot controller • Baxter has some motor control in separate subsystems ROS Infrastructure Device Nodes Device Nodes Embedded System uros Embedded System rosc Embedded system runs real-time code

  3. Idea for an approach ROS packages w/real-time changes Re-architect the solution stack to support real-time Consequences ROS packages Path plan updates SLAM RobotX Navigation (And run system at full speed) ROS middleware w/real-time changes • Requirements: • Which RTOSs? Which packages? • Re-architect middleware • Re-architect selected packages RTOS adapt layer RTOS w/POSIX Fieldbus drivers Take the survey at tinyurl.com/realtimeros and register your opinion

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