1 / 3

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).

myron
Télécharger la présentation

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

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  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

More Related