real-time extension to the robot operating system · 09.10.2016 rtros –real-time extension to the...

Institute of Systems Engineering - Real Time Systems GroupInstitute of Systems Engineering - Real Time Systems Group

Real-Time Extension to theRobot Operating System

09.10.2016

This work has been supported by the Federal Office of Bundeswehr Equipment, Information Technology and In-Service

Support (BAAINBw).

Jan Carstensen

Axel Rauschenberger

Institute of Systems Engineering - Real Time Systems Group

Motivation and Overview

09.10.2016 RTROS – Real-Time Extension to the Robot Operating System Page 2

Introduction

Architecture

Communication

Publish/Subscribe

Services

Real-Time Debugging

Example Code

Current Work

Institute of Systems Engineering - Real Time Systems Group

Design Goals Architecture

09.10.2016 RTROS – Real-Time Extension to the Robot Operating System Page 3

Usability

Hard Real-Time

Safety

RTROS – Goals and Architecture

Institute of Systems Engineering - Real Time Systems Group

Cyclictest System Latency

09.10.2016 RTROS – Real-Time Extension to the Robot Operating System Page 4

Rate – Cyclic Behaviour

Institute of Systems Engineering - Real Time Systems Group

Rate Benchmark

09.10.2016RTROS – Real-Time Extension to the Robot Operating System Page 5

2.740,15 μs (avg)

21.846,05 μs (max)

0,66 μs (avg)

114,89 μs (max)

Institute of Systems Engineering - Real Time Systems Group

Publish/Subscribe Services

09.10.2016RTROS – Real-Time Extension to the Robot Operating System Page 6

Communication

Institute of Systems Engineering - Real Time Systems Group

Publish/Subscribe Benchmark

99.843/100.000 (99%) Messages received 100.000/100.000 (100%)

09.10.2016RTROS – Real-Time Extension to the Robot Operating System Page 7

210,24 μs (avg)

27.701,19 μs (max)

45,96 μs (avg)

179,93 μs (max)

Institute of Systems Engineering - Real Time Systems Group

Services Benchmark

100.00/100.000 (100%) Messages received 100.000/100.000 (100%)

09.10.2016RTROS – Real-Time Extension to the Robot Operating System Page 8

26.317,33 μs (avg)

47.986,3 μs (max)

57,35 μs (avg)

187,75 μs (max)

Institute of Systems Engineering - Real Time Systems Group

Real-Time Debugging

09.10.2016 RTROS – Real-Time Extension to the Robot Operating System Page 9

Institute of Systems Engineering - Real Time Systems Group

09.10.2016 RTROS – Real-Time Extension to the Robot Operating System Page 10

Example Code

Institute of Systems Engineering - Real Time Systems Group

Current Work

Testing and Improving

RTROS – Compatibility

Preempt_RT

Xenomai 3.0

External Evaluation

Open-Source Release

New Features

Network Communication

Time Synchronisation

09.10.2016 RTROS – Real-Time Extension to the Robot Operating System Page 11

Institute of Systems Engineering - Real Time Systems Group

Drivers

Real-Time Restriction

Sensors

Conclusion

09.10.2016 RTROS – Real-Time Extension to the Robot Operating System Page 12

Publish/Subscribe

Services

Time

Transform (TF)

Console

Featu

res

Pro

ble

ms