Paper Info
Title
RGMP-ROS: A real-time ROS architecture of hybrid RTOS and GPOS on multi-core processor
Abstract
Recently, the open-source robot operating system (ROS) has been growing rapidly in the robotics community. However, the ROS runs on Linux, which does not provide timing guarantees for robot motion. This paper present a hybrid real-time ROS architecture on multi-core processor “RGMP-ROS”, which consists of two parts including the non-real-time subsystem “GPOS (General Operating system)” and the real-time one “RTOS (Real-time Operating system)”. The GPOS is comprised of non-real-time ROS nodes running in Linux, while the RTOS only contains real-time ROS nodes running in Nuttx. To get higher operational efficiency, the RGMP-ROS system is executed by a dual-core processor, one CPU for GPOS and the other for RTOS. The RGMP-ROS has used in the controller of a 6-DOF modular manipulator, and its effectiveness and efficiency are demonstrated by software testing and experiments. The main contributions of the present work lie in the realization of real-time ROS architecture and the application of multi-core processor in the hybrid control of an industrial robot.
Year
DOI
Venue
2014
10.1109/ICRA.2014.6907205
ICRA
Keywords
Field
DocType
dual-core processor,general operating system,6-dof modular manipulator,multicore processor rgmp-ros,robots,operating system kernels,real-time one rtos,hybrid rtos,nonreal-time subsystem gpos,open-source robot operating system,multiprocessing systems,real-time operating system,linux,hybrid control,industrial robot,software testing,rgmp-ros system,nuttx,robotics community,robot motion,cpu,nonreal-time ros nodes,hybrid real-time ros architecture
Architecture,Real-time operating system,Engineering,Multi-core processor,Operating system,Embedded system
Conference
Volume
Issue
ISSN
2014
1
1050-4729
Citations 
PageRank 
References 
2
0.44
7
Authors
6
Name
Order
Citations
PageRank
Hongxing Wei110122.41
Zhen Huang2101.75
Qiang Yu320.44
Miao Liu4243.22
Yong Guan578782.67
Jindong Tan668777.41