Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/9149
Title: RT-ROS: A real-time ROS architecture on multi-core processors
Authors: Wei, H
Shao, Z 
Huang, Z
Chen, R
Guan, Y
Tan, J
Shao, Z 
Keywords: Multi-core processors
Real-time operating systems
Robot operating systems
Issue Date: 2015
Publisher: North-Holland
Source: Future generation computer systems, 2015 How to cite?
Journal: Future generation computer systems 
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.
URI: http://hdl.handle.net/10397/9149
ISSN: 0167-739X
EISSN: 1872-7115
DOI: 10.1016/j.future.2015.05.008
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