Transcript Real time ROS

Real-time for ROS?
Questions/Comments to [email protected]
ROS: What’s Next?
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
ROS packages bring great value
• Ready-built solutions to a wide
range of problems in a
common framework
• Should they be enhanced to
provide timing guarantees?
Time-critical ROS packages
• Path plan updates
• SLAM
• RobotX Navigation
• RobotX safety nodes (can
include laser scan & vision)
State of the art
Run real-time subsystems in an external (non-ros) processing system
Examples
• Ros-Industrial uses robot
controller
• Baxter has some motor control
in separate subsystems
Consequences
ROS packages
• Can’t use vision/laser in realtime
control loops (e.g. Move-it)
(Or run system slowly)
Linux PC or PCs
embedded in robot
ROS Nodes (navigation,
planning, etc.)
ROS Infrastructure
Device
Nodes
Device
Nodes
Embedded
System
uros
Embedded
System
rosc
Embedded system runs real-time code
Idea for an approach
Re-architect the solution stack
to support real-time
• Requirements:
– Which RTOSs? Which
packages?
• Re-architect middleware
• Re-architect selected
packages
Take the survey at
tinyurl.com/realtimeros
and register your opinion
ROS packages
w/real-time changes
ROS middleware
w/real-time changes
RTOS adapt layer
RTOS w/POSIX
Fieldbus drivers
Consequences
ROS packages
 Path plan updates
 SLAM
 RobotX Navigation
(And run system at full speed)