Abstract
<h2>Abstract</h2> Owing to the steady progress in the field of Linux kernel development, high-performance control applications are no longer a rarity on general-purpose computing platforms. However, many real-time control libraries lack important properties such as modularity, effortless integration, and encapsulation. These are key design features of the popular Robot Operating System (ROS) that is, however, not real-time capable. We aim to solve this issue by introducing the Real-Time Control Framework (RTCF), which offers high modularity, ROS-related concepts leading to seamless interoperability with ROS, and high performance. To demonstrate the capabilities of the RTCF, we provide several examples and exemplary performance data.
Highlights
In recent years, Robot Operating System (ROS) [1] has become a defacto standard in the area of robotics research and development
We aim to solve this issue by introducing the Real-Time Control Framework (RTCF), which offers high modularity, ROS-related concepts leading to seamless interoperability with ROS, and high performance
To demonstrate the capabilities of the RTCF, we provide several examples and exemplary performance data
Summary
Robot Operating System (ROS) [1] has become a defacto standard in the area of robotics research and development. When ROS was developed, its main focus was put on performing higher-level algorithms and as a consequence, its asynchronous architecture is neither real-time safe nor does it provide a built-in option for synchronous operation. This becomes a limitation when mid-level or even low-level control algorithms with strict timing requirements are implemented in ROS, as the achievable performance is very limited and depends on external factors.
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