[ros-users] ROS port to RTEMS ?

[Tully Foote]

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 Thu, Feb 10, 2011 at 12:52 PM, Joel Sherrill
<joel.sherrill at oarcorp.com>wrote:

> On 02/10/2011 02:03 PM, Yann Sionneau wrote:
> > Hi guys,
> >
> > What would you think about a port of ROS to the RTOS RTEMS ?
> >
> This looks like a useful collection of software.  The first
> 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 its
> > 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, Ph.D.             Director of Research&  Development
> joel.sherrill at 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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>



-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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