ROS2 Real-time Working Group Online Meeting 3 - Oct 2, 2019, 7AM PDT (UTC-7)

Next Generation ROS
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@MartinCornelis

thanks, your ppt works fine by me and looks good enough!

I am also curious about the Improvement for Priority and RT Safe from Bosch, i remember i did see some documents somewhere. could you point me these documents as well? seems like they are making approach for Real-Time aspect with technology not engineering. i am really interested in that too.

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I believe @Ingo_Lutkebohle is working on this. I am not really sure about the current state of the work. We aligned with Ingo, Tobias, Jan and Ralph to determine who would focus on what part of the executor (to prevent doing double work). Maybe Ingo can point you to a repository, or maybe he can give you an update when they have something ready. One thing you could check out is the real-time executor , which has a repository here rcl_executor github. This is an RCL implementation of an executor that Jan worked on for Micro-ROS.

1 Like
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@Dejan_Pangercic
It seems the link to the meeting recordings doesn’t work now. Could you please check the URL is correct?

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@akihikotsukuda I apologize, the recordings got auto deleted in our Zoom account.

I have now recovered them and updated the comment above: ROS2 Real-time Working Group Online Meeting 3 - Oct 2, 2019, 7AM PDT (UTC-7)

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@gbiggs AWF meeting is at 8AM PST, so we should be good.

D.

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@razr did you by chance have time to look into this:

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Thank you. The new link to the recording works well.

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I’d like to know what demo is being done, we may want to collaborate depending on what it is.

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The mentioned demo it’s a rework of the inverted pendulum demo in ros2/demos (demo, tutorial). The idea is to create a more complete project like the demo shown in the last Roscon (confbot_robot) but focused on control and real-time analysis.

To add some details these are some of the new features that were added or we would like to add:

  • The simulation of the pendulun has been improved. Now it’s compound by a cart and a pole and it actually works. (See this repo to test the simulation https://gitlab.com/carlossvg/inverted_pendulum_sim/tree/master).
  • Nodes are now composable and managed.
  • Topics use deadline QoS.
  • The implementation of the controller and simulation use some abstractions so it’s possible to implement new kind of controllers or to use the code in a real pendulum by creating some drivers.
  • We collects some statistics: topic missed deadlines, timer jitter, memory page faults,…

We would like to upload the project on github before Roscon so everbody can contribute.

4 Likes
30

Pardon my ignorance, but can anyone join these meetings or is it more of an invite kind of thing?

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Anyone can join. Just pop along and start contributing!

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@Dejan_Pangercic The URL link seems to be the second meeting, not the third meeting. I hope you will confirm it.

1 Like