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