Hi Yann and Joel,
It would be great to get ROS running on RTEMS. Most of the efforts so far for getting ROS running on embedded systems has been focused into the Embedded ROS project [1] which is focused on getting ROS libraries cross-compiled for smaller embedded systems. We are working on revamping the general build system to make cross-compiling easier overall. At runtime ROS is effectively a message passing infrastructure, which is not designed for realtime. However there are several places where we interface ROS with realtime message passing, such as Orocos [3] and pr2_etherCAT [4]
If someone would like to take this on we are happy to support them through our usual channels. [2] I think you'll find the ROS community is quite responsive.
Tully
[1] http://www.ros.org/news/2010/10/embedded-project-for-ros-eros.html
[2] http://www.ros.org/wiki/Support
[3] http://www.willowgarage.com/blog/2009/06/10/orocos-rtt-and-ros-integrated http://www.ros.org/wiki/orocos_toolchain_ros
[4] http://www.ros.org/wiki/pr2_etherCAT
On 02/10/2011 02:03 PM, Yann Sionneau wrote:This looks like a useful collection of software. The first
> Hi guys,
>
> What would you think about a port of ROS to the RTOS RTEMS ?
>
questions I have to ask are:
+ Is RTEMS a feasible target?
- Are there assumptions in the ROS SW that would
prevent it from running on RTEMS?
+ Does anyone at ros.org care?
+ Would anyone at ros.org want to co-mentor?
If they are interested and this is feasible, then it
is worth writing up as a project.
> As you may know, the Google Summer of Code (GSoC) is in itsJoel Sherrill, Ph.D. Director of Research& Development
> starting-blocks [1], the RTEMS project [2] has just launched a call for
> Open Projects [3] in order to add some more items to the list of doable
> projects for the GSoC.
>
> I thought it would be a good idea to port ROS to RTEMS since you seem to
> all run ROS under Linux, or Linux-rt or even Windows.
>
> I don't know if ROS is planning in applying to be an organization part
> of the GSoC 2011, but RTEMS definitely is.
>
> So maybe it can be a RTEMS project, or a ROS project :)
>
> I just wanted to know your opinion on this question !
>
> [1] -
> http://google-opensource.blogspot.com/2011/01/google-summer-of-code-announced-at-lca.html
> [2] - http://www.rtems.org/
> [3] - http://www.rtems.com/ml/rtems-users/2011/february/msg00034.html
>
> Regards,
>
--
joel.sherrill@OARcorp.com On-Line Applications Research
Ask me about RTEMS: a free RTOS Huntsville AL 35805
Support Available (256) 722-9985
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