[ros-users] Real robot control on Linux

[Adolfo Rodríguez Tsouroukdissian]

On Fri, Jul 17, 2015 at 9:08 AM, Dejan Pangercic via ros-users <
ros-users at 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
Senior robotics engineer
adolfo.rodriguez at 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
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