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ros2_control and real-time requirements #48
There were discussions in the real-time working group (RTWG) about ROS 2 projects working on real-time related applications. The name of this project was mentioned as some of the applications this project targets require real-time capabilities.
It would be great to to have some feedback from this group, for example by providing use cases with hard real-time requirements, sharing your experience in the development of real-time applications and tools (i.e: realtime_tools) or getting involved in the development or the testing of new features.
Some of the recurrent topics discussed in the RTWG are the rework of the rclcpp executor, the creation of a new C executor in rclc with deterministic behavior, tracing, performance testing, etc. Feel free to join the RTWG and discuss any of these topics or propose new ones.
@carlossvg thanks for reaching out. We (at least I) don't have any concrete feedback regarding realtime requirements other than that we have them ;-)
I am very intrigued into leveraging the static executor for the controller manager. Ideally, we would like to use the C++ version of it, but the rclc might be more advanced than the static executor in rclcpp.
I think the two WGs (real-time and ros-control) are very closely related in terms of their requirements when it comes to deterministic behavior. I would thus love to actually roll the ball back to you guys and ask for feedback on the design docs for ros_control. One precise PR which I believe could be of interest is this one: https://github.com/ros-controls/roadmap/pull/8/files