Questions tagged [real-time]
Real-time software is one with tasks that have critical timing requirements. Failure in delivering results within the timing requirement results in catastrophe at worst and uselessness of the results at best.
85 questions
0 votes
0 answers
18 views
How to close is Gazebo reality? A proven percentage value? An estimated value?
How close to reality can the Gazebo environment be simulated, and how error-free is it? Especially for aircraft? When I finish development in Gazebo, I expect to be able to create an exact replica of ...
0 votes
0 answers
32 views
No "Fully Preemptible Kernel" option when building Real Time kernel
I am trying to build a real-time kernel on my Ubuntu 24.04 computer, following the instructions in the official documentation for ROS 2 Jazzy. First, I checked this wiki where it says the latest ...
- 188
0 votes
0 answers
19 views
Staying synced to a real time clock with Webot's `robot.step` function
Using the Webots Python API, I encountered the following issue. I'm working on a simulator that communicates with some server, and their clocks should be synchronized (up to some constant delta). ...
0 votes
2 answers
115 views
ROS2 resource management for a real-time application
I'm a ROS 2 novice developing a software framework for a robotic application that involves high-dynamics controllers requiring high-frequency control loops. To optimize for real-time performance and ...
- 3
1 vote
1 answer
367 views
controller manager - could not enable FIFO RT scheduling policy with error number <1>(Operation not permitted)
I have been working in ros2 humble, i encountered the realtime kernel installation issue at first, after that this warning comes up when executing the launch file ...
- 27
1 vote
1 answer
148 views
Large model in gazebo slows RTF to 1%
I am loading a large fbx into gazebo (harmonic). The fbx is a terrain model over a 2km. Ive set the collision tolerances low but the RTF is extremely slow. When I take out the model and just run ...
- 81
0 votes
1 answer
101 views
Controlling a Commercial CNC Machine with ROS
I am working on a project to use a 3D camera to monitor a free-moving object as it is being operated on by a cnc. If the object happens to move, the camera will monitor that movement and will adjust ...
0 votes
1 answer
89 views
Robot Blinking Like an UFO in RViz and Costmap Issues, Potential Problem with odom to base_footprint Broadcast for Real Robot
I'm experiencing an issue with my ROS2 setup where my robot appears to blink like a UFO in RViz, and the costmap blinks intermittently. Here’s a detailed breakdown of my situation: 1 - Setup I have a ...
- 296
2 votes
0 answers
33 views
Coordinating long-running actions with independent threads [closed]
Basically, some things have real-world durations that need to be accommodated. For example, moving a servo arm 180° will take a significant number of milliseconds. What is the best practice for ...
- 121
0 votes
1 answer
50 views
Time synchronization
I have a robot receiving images from a camera. Now, there is a denso device for time synchronization so that we get correct time stamping between of the camera frames. I am not sure what does that ...
- 105
0 votes
2 answers
449 views
Best practices for real-time capabilites in ROS2
We are designing the software stack for an autonomous racing vehicle. The high speeds require good real-time capabilities of the software stack. Are there some resources on best practices or tutorials ...
awischnewski
3 votes
1 answer
3k views
Why does ROS2 claim to be "real time"?
ROS2 uses DDS, in the wiki it says that DDS is "The Data Distribution Service (DDS) for real-time systems is an Object Management Group (OMG) machine-to-machine (sometimes called middleware or ...
- 157
0 votes
2 answers
132 views
How to keep a sensor pointed downward
I am using LIDAR to measure a robot's altitude. The robot's orientation relative to the ground is dynamic; i.e. the XY plane tilts relative to the Z axis. I would like the LIDAR to remain pointed ...
- 1
0 votes
1 answer
223 views
Robots and RTOS
Many computing platforms used by robots are not real time(ex Jetson). How are real time constraints handled in real robots? Are all software transfered into a hardware solution with real time ...
- 435
1 vote
1 answer
1k views
Is it possible to use ROS2 real-time on a computer and connect to the robot actuator using a CAN bus?
I am using ROS2 real-time (still a lot to learn) to implement the various control element of my robot : SLAM, path planning, controller, etc... For the first step of prototyping we would like to build ...
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