Presentation on theme: "Real-time for ROS? Questions/Comments to ROS: Whats Next? Commercial Products? Robots need real-time guarantees for product-level."— Presentation transcript:
Real-time for ROS? Questions/Comments to ROS: Whats 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 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?
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 ROS Nodes (navigation, planning, etc.) ROS Infrastructure Linux PC or PCs embedded in robot Device Nodes Embedded System uros Embedded System rosc Consequences ROS packages Cant use vision/laser in realtime control loops (e.g. Move-it) (Or run system slowly) 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 RTOS w/POSIX RTOS adapt layer ROS middleware w/real-time changes ROS packages w/real-time changes Consequences ROS packages Path plan updates SLAM RobotX Navigation (And run system at full speed) Fieldbus drivers