@razr we started with the long list of goals couple of months back: ROS 2 and Real-time.
In that thread I proposed an overall goal which would be to make ROS 2 hard real time. This would then mean that we’d need to “analyse an entire stack, from the hardware platform to the applications written with ROS 2” and improve the realtime across the entire stack.
However the guys have, rightfully so, convinced me that this is simply too much work and it depends too much on the use case and selected underlying stack (ECU, RTOS, network interfaces, …).
As a result we agreed to work on the following sub-goals:
- Provide a use case description and requirements
- Implement real-time able rmw (single threaded, static executor)
- Present findings on real-time audit in rcutils, rcl and rclcpp and continue improving
- Create a shared repository for tools for static and dynamic code analysis and tracing
Additional goals are of course welcome but we will also need someone to work on them.