micros-rtt is about offering a real-time platform for robot applications.
A real-time system must not only manage system resources and offer a well defined
set of services to application programs but must also provide guarantees about thetimeliness of such services.
ROS nominally runs on Ubuntu Linux, which is not a real-time OS. The TCP protocol, which
often cause problems in real-time communication, is the only option in ROS when transferring
messages between nodes. So there is no guarantee of the reaction time when events happening.
We focus on two things to solve this problem:
1. Replace Linux kernel by Xenomai;
2. Use lock-free data structure when intraprocess communication happens.(based on OROCOS)
codes (GitHub) slides (843 KB)
