TY - GEN
T1 - RGMP-ROS
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
AU - Wei, Hongxing
AU - Huang, Zhen
AU - Yu, Qiang
AU - Liu, Miao
AU - Guan, Yong
AU - Tan, Jindong
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84929208708
U2 - 10.1109/ICRA.2014.6907205
DO - 10.1109/ICRA.2014.6907205
M3 - 会议稿件
AN - SCOPUS:84929208708
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2482
EP - 2487
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 31 May 2014 through 7 June 2014
ER -