[ros-users] Real robot control on Linux

Adolfo Rodríguez Tsouroukdissian adolfo.rodriguez at pal-robotics.com
Fri Jul 31 11:19:03 UTC 2015

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.



[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

c/ Pujades 77-79, 4º4ª
08005 Barcelona, Spain.
Tel. +34.93.414.53.47
Skype: adolfo.pal-robotics
Facebook <http://www.facebook.com/palrobotics1> - Twitter
<http://twitter.com/#%21/palrobotics> - PAL Robotics YouTube Channel

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