Hi Yann and Joel, <br><br>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] <br>
<br>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. <br><br>Tully<br><br><br>[1] <a href="http://www.ros.org/news/2010/10/embedded-project-for-ros-eros.html">http://www.ros.org/news/2010/10/embedded-project-for-ros-eros.html</a><br>
[2] <a href="http://www.ros.org/wiki/Support">http://www.ros.org/wiki/Support</a><br>[3] <a href="http://www.willowgarage.com/blog/2009/06/10/orocos-rtt-and-ros-integrated">http://www.willowgarage.com/blog/2009/06/10/orocos-rtt-and-ros-integrated</a> <a href="http://www.ros.org/wiki/orocos_toolchain_ros">http://www.ros.org/wiki/orocos_toolchain_ros</a><br>
[4] <a href="http://www.ros.org/wiki/pr2_etherCAT">http://www.ros.org/wiki/pr2_etherCAT</a><br><br><div class="gmail_quote">On Thu, Feb 10, 2011 at 12:52 PM, Joel Sherrill <span dir="ltr"><<a href="mailto:joel.sherrill@oarcorp.com">joel.sherrill@oarcorp.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div class="im">On 02/10/2011 02:03 PM, Yann Sionneau wrote:<br>
> Hi guys,<br>
><br>
> What would you think about a port of ROS to the RTOS RTEMS ?<br>
><br>
</div>This looks like a useful collection of software. The first<br>
questions I have to ask are:<br>
<br>
+ Is RTEMS a feasible target?<br>
- Are there assumptions in the ROS SW that would<br>
prevent it from running on RTEMS?<br>
+ Does anyone at <a href="http://ros.org" target="_blank">ros.org</a> care?<br>
+ Would anyone at <a href="http://ros.org" target="_blank">ros.org</a> want to co-mentor?<br>
<br>
If they are interested and this is feasible, then it<br>
is worth writing up as a project.<br>
<div class="im">> As you may know, the Google Summer of Code (GSoC) is in its<br>
> starting-blocks [1], the RTEMS project [2] has just launched a call for<br>
> Open Projects [3] in order to add some more items to the list of doable<br>
> projects for the GSoC.<br>
><br>
> I thought it would be a good idea to port ROS to RTEMS since you seem to<br>
> all run ROS under Linux, or Linux-rt or even Windows.<br>
><br>
> I don't know if ROS is planning in applying to be an organization part<br>
> of the GSoC 2011, but RTEMS definitely is.<br>
><br>
> So maybe it can be a RTEMS project, or a ROS project :)<br>
><br>
> I just wanted to know your opinion on this question !<br>
><br>
> [1] -<br>
> <a href="http://google-opensource.blogspot.com/2011/01/google-summer-of-code-announced-at-lca.html" target="_blank">http://google-opensource.blogspot.com/2011/01/google-summer-of-code-announced-at-lca.html</a><br>
> [2] - <a href="http://www.rtems.org/" target="_blank">http://www.rtems.org/</a><br>
> [3] - <a href="http://www.rtems.com/ml/rtems-users/2011/february/msg00034.html" target="_blank">http://www.rtems.com/ml/rtems-users/2011/february/msg00034.html</a><br>
><br>
> Regards,<br>
><br>
<br>
<br>
--<br>
</div>Joel Sherrill, Ph.D. Director of Research& Development<br>
<font color="#888888">joel.sherrill@OARcorp.com On-Line Applications Research<br>
Ask me about RTEMS: a free RTOS Huntsville AL 35805<br>
Support Available (256) 722-9985<br>
</font><div><div></div><div class="h5"><br>
<br>
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</div></div></blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>