CompROS: A composable ROS2 based architecture for real-time embedded robotic development
Saeid Dehnavi,Martijn Koedam,Andrew Nelson,Dip Goswami,Kees Goossens,Saeid Dehnavi,Martijn Koedam,Andrew Nelson,Dip Goswami,Kees Goossens
Robot Operating System (ROS) is a de-facto standard robot middleware in many academic and industrial use cases. However, utilizing ROS/ROS2 in safety-critical embedded applications with real-time requirement is challenging because of C1) Non-real-time underlying hardware, C2) No control on the host OS scheduler, C3) Unpredictable dynamic memory allocation, C4) High resource requirement, and C5) Un...
