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ros2_control and real-time requirements #48

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carlossvg opened this issue Feb 6, 2020 · 1 comment
Open

ros2_control and real-time requirements #48

carlossvg opened this issue Feb 6, 2020 · 1 comment

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@carlossvg
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@carlossvg carlossvg commented Feb 6, 2020

Hi ros_control folks,

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.

You can read the minutes of previous meetings in discourse with the wg-real-time tag and check upcoming events here.

@Karsten1987

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@Karsten1987 Karsten1987 commented Mar 16, 2020

@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

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