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• W629357697 abstract "ROS, an open-source robot operating system, is widely used and rapidly developed in the robotics community. However, running on Linux, ROS does not provide real-time guarantees, while real-time tasks are required in many robot applications such as robot motion control. This paper for the first time presents a real-time ROS architecture called RT-RTOS on multi-core processors. RT-ROS provides an integrated real-time/non-real-time task execution environment so real-time and non-real-time ROS nodes can be separately run on a real-time OS and Linux, respectively, with different processor cores. In such a way, real-time tasks can be supported by real-time ROS nodes on a real-time OS, while non-real-time ROS nodes on Linux can provide other functions of ROS. Furthermore, high performance is achieved by executing real-time ROS nodes and non-real-time ROS nodes on different processor cores. We have implemented RT-ROS on a dual-core processor and conducted various experiments with real robot applications. The experimental results show that RT-ROS can effectively provide real-time support for the ROS platform with high performance by exploring the multi-core architecture." @default.
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• W629357697 date "2016-03-01" @default.
• W629357697 modified "2023-10-16" @default.
• W629357697 title "RT-ROS: A real-time ROS architecture on multi-core processors" @default.
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• W629357697 doi "https://doi.org/10.1016/j.future.2015.05.008" @default.
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