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

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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.

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Existing Real-Time Extensions for ROS:

This is heading 1, this is just to check if things are working or not

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Configuration of a System to run ROS + Linux/Xenomai:

This is another heading, to verify whether this is all working.

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Developing an application using real-time ROS Nodes:

This is also a test phrase. To be removed later.

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Supervisors:

• Prof. Audrey Queudet
• Prof. Vincent Lebastard

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Contributors:

• Sampreet Sarkar sampreet.sarkar@eleves.ec-nantes.fr
• Erwin Lejeune erwin.lejeune@eleves.ec-nantes.fr

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References:

1. Wei Hongxing, Shao Zhenzhou, Huang Zhen, Chen Rennaim Guan Yong, Tan Jindong, Shao Zili(2015)."RT ROS: A real-time ROS architechture on multi-core processors"

2. Delgado Raimarius, You Bum-Jae, Choi Byoungwook. (2019). "Real-time Control Architecture Based on Xenomai Using ROS Packages for a Service Robot. Journal of Systems and Software."