Paper Info
Title
RT-ROS: A real-time ROS architecture on multi-core processors
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.
Year
DOI
Venue
2016
10.1016/j.future.2015.05.008
Future Generation Computer Systems
Keywords
Field
DocType
Real-time operating systems,Robot Operating Systems,Multi-core processors
Computer science,Real-time computing,Real-time operating system,Artificial intelligence,Robot,Multi-core processor,Robot motion control,Operating system,Robotics,Distributed computing,Robot operating system,Embedded system
Journal
Volume
ISSN
Citations 
56
0167-739X
8
PageRank 
References 
Authors
0.97
18
7
Name
Order
Citations
PageRank
Hongxing Wei110122.41
Zhenzhou Shao2336.15
Zhen Huang3101.75
Renhai Chen41159.09
Yong Guan578782.67
Jindong Tan668777.41
Zili Shao71618134.03