The rclc Executor: Domain-specific deterministic scheduling mechanisms for ROS applications on microcontrollers: work-in-progress
| Autor: | Ingo Lütkebohle, Ralph Lange, Jan Staschulat |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
business.industry
Computer science Quality of service Mobile robot 030204 cardiovascular system & hematology Executor Porting Scheduling (computing) 03 medical and health sciences Microcontroller 0302 clinical medicine Embedded system Memory footprint 030212 general & internal medicine business Real-time operating system |
| Zdroj: | EMSOFT |
| DOI: | 10.1109/emsoft51651.2020.9244014 |
| Popis: | Robots are networks of a variety of computing devices, such as powerful computing platforms but also tiny microcontrollers. The Robot Operating System (ROS) is the dominant framework for powerful computing devices. While ROS version 2 adds important features like quality of service and security, it cannot be directly applied to microcontrollers because of its large memory footprint. The micro-ROS project has ported the ROS 2 API to microcontrollers. However, the standard ROS 2 concepts are not enough for real-time performance: In the ROS 2 release “Foxy”, the standard ROS 2 Executor, which is the central component responsible for handling timers and incoming message data, is neither real-time capable nor deterministic. Domain-specific requirements of mobile robots, like sense-plan-act control loops, cannot be addressed with the standard ROS 2 Executor. In this paper, we present an advanced Executor for the ROS 2 C API which provides deterministic scheduling and supports domain-specific requirements. A proof-of-concept is demonstrated on a 32-bit microcontroller. |
| Databáze: | OpenAIRE |
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