Bringing Real-Time Capabilities to ROS
Exploring the options on how to implement a real-time ROS Node using ROS + Linux/Xenomai
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Table of Contents:
- About the Project
- Existing Real-Time Extensions for ROS
- Configuration of the system to run ROS + Linux/Xenomai
- Developing an Application using Real-Time ROS Nodes
- Supervisors
- Contributors
About the Project:
ROS (Robot Operating System) is a software environment (i.e., middleware) providing a set of tools to connect multiple parts of a robotic setup. It offers nice features to interface with a wide range of sensors and actuators. However, it does not natively provide any strict real-time guarantees. Yet, many modern-day robots have a strong need to achieve a deterministic, time-bounded behaviour (e.g., mobile robot collision avoidance).
The aim of the project is to determine how real-time capabilities can be brought to ROS. The first step would be to identify the existing real-time extensions, and carry out a comparative study about each of them. The next step would be to setup the installation process for a real-time environment using ROS and Linux/Xenomai. The final step will consist in developing and testing real-time ROS nodes.
Existing Real-Time Extensions for ROS:
This is heading 1, this is just to check if things are working or not
Configuration of a System to run ROS + Linux/Xenomai:
This is another heading, to verify whether this is all working.
Developing an application using real-time ROS Nodes:
This is also a test phrase. To be removed later.
Supervisors:
- Prof. Audrey Queudet
- Prof. Vincent Lebastard
Contributors:
- Sampreet Sarkar
sampreet.sarkar@eleves.ec-nantes.fr - Erwin Lejeune
erwin.lejeune@eleves.ec-nantes.fr