DocumentCode :
250307
Title :
RGMP-ROS: A real-time ROS architecture of hybrid RTOS and GPOS on multi-core processor
Author :
Hongxing Wei ; Zhen Huang ; Qiang Yu ; Miao Liu ; Yong Guan ; Jindong Tan
Author_Institution :
Sch. of Mech. Eng. & Autom., Beihang Univ., Beijing, China
fYear :
2014
fDate :
May 31 2014-June 7 2014
Firstpage :
2482
Lastpage :
2487
Abstract :
Recently, the open-source robot operating system (ROS) has been growing rapidly in the robotics community. However, the ROS runs on Linux, which does not provide timing guarantees for robot motion. This paper present a hybrid real-time ROS architecture on multi-core processor “RGMP-ROS”, which consists of two parts including the non-real-time subsystem “GPOS (General Operating system)” and the real-time one “RTOS (Real-time Operating system)”. The GPOS is comprised of non-real-time ROS nodes running in Linux, while the RTOS only contains real-time ROS nodes running in Nuttx. To get higher operational efficiency, the RGMP-ROS system is executed by a dual-core processor, one CPU for GPOS and the other for RTOS. The RGMP-ROS has used in the controller of a 6-DOF modular manipulator, and its effectiveness and efficiency are demonstrated by software testing and experiments. The main contributions of the present work lie in the realization of real-time ROS architecture and the application of multi-core processor in the hybrid control of an industrial robot.
Keywords :
Linux; multiprocessing systems; operating system kernels; robots; 6-DOF modular manipulator; CPU; Linux; Nuttx; RGMP-ROS system; dual-core processor; general operating system; hybrid RTOS; hybrid control; hybrid real-time ROS architecture; industrial robot; multicore processor RGMP-ROS; nonreal-time ROS nodes; nonreal-time subsystem GPOS; open-source robot operating system; real-time one RTOS; real-time operating system; robot motion; robotics community; software testing; Computer architecture; Linux; Operating systems; Peer-to-peer computing; Real-time systems; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
Type :
conf
DOI :
10.1109/ICRA.2014.6907205
Filename :
6907205
Link To Document :
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