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.

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Adolfo Rodríguez Tsouroukdissian
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