On Fri, Jul 17, 2015 at 9:08 AM, Dejan Pangercic via ros-users < ros-users@lists.ros.org> wrote: > Hi everyone, > Hey D. Here it goes, > I am looking for some pointers from those that run your robots on Linux in > real time. > I'd really appreciate if you would share with me: > - which robot/use case do you have > You know our robots. Mostly service: bipeds, mobile manipulation platforms, mobile bases. > - which HW architecture are you using (e.g. arm vs x86) > mainly x86. > - which Linux distro > Ubuntu, LTS > - which real time kernel (e.g. xenoami vs rt_preempt) > We use Xenomai and RT PREEMPT, depending on the project/client (not both at the same time). - which scheduler > Depends on the task, and the used real-time kernel. Xenomai has additional schedulers than stock Linux (and RT PREEMPT by extension). The sched man page [1] explains quite well the different Linux schedulers, including the real-time ones. > - which peripherals (e.g. CAN, Ethercat, serial, etc.) > Multiple, depends on the robot. > - which application framework (e.g. written from scratch, ROS, Orocos, ) > Orocos RTT and ROS is a common combination. > - which actuators do you control > > Different control modes. Pos, vel, current. I don't know if this is what you mean in the question. HTH, Adolfo. [1] http://man7.org/linux/man-pages/man7/sched.7.html Thanks upfront, D. > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > > -- Adolfo Rodríguez Tsouroukdissian Senior robotics engineer adolfo.rodriguez@pal-robotics.com http://www.pal-robotics.com PAL ROBOTICS S.L c/ Pujades 77-79, 4º4ª 08005 Barcelona, Spain. Tel. +34.93.414.53.47 Fax.+34.93.209.11.09 Skype: adolfo.pal-robotics Facebook - Twitter - PAL Robotics YouTube Channel AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden contener información privilegiada y/o confidencial que está dirigida exclusivamente a su destinatario. Si usted recibe este mensaje y no es el destinatario indicado, o el empleado encargado de su entrega a dicha persona, por favor, notifíquelo inmediatamente y remita el mensaje original a la dirección de correo electrónico indicada. Cualquier copia, uso o distribución no autorizados de esta comunicación queda estrictamente prohibida. CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may contain confidential information which is privileged and intended only for the individual or entity to whom they are addressed. If you are not the intended recipient, you are hereby notified that any disclosure, copying, distribution or use of this e-mail and/or accompanying document(s) is strictly prohibited. If you have received this e-mail in error, please immediately notify the sender at the above e-mail address.