[ros-users] ROS port to RTEMS ?

[Herman Bruyninckx]

On Fri, 11 Feb 2011, Tully Foote wrote:

> 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]

Orocos' main developer, Peter Soetens, has experience in what it takes to
port to other operating systems. So, you could get some possibly useful
information on the orocos-dev mailinglist too.

> 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.
>
It surely it! :-)

> Tully

Herman

>
>
> [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<mailto: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<http://ros.org> care?
> + Would anyone at ros.org<http://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
>
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org<mailto:ros-users at code.ros.org>
> https://code.ros.org/mailman/listinfo/ros-users
>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote at willowgarage.com<mailto:tfoote at willowgarage.com>
> (650) 475-2827