From: Herman B. <Her...@me...> - 2007-03-07 09:27:57
|
On Wed, 7 Mar 2007, jr...@m-... wrote: > We're working with Player/Stage 2.0.3 on Ubuntu but we're considering > migrate to RT-Linux. > > - Can this cause any kind of problem? > - What are your impressions/experiences about use > player with RT ? Doubts..? Advantages..? Disadvantage..? Problems..? > > PS is working very well on ubuntu but our application requires an estrict > timing so for futures versions with a bigger load off CPU the system can be > crashed. > > I was looking on the mail-list but I can't find the answers to my doubts. (I am biased in what I say below, because I am part of the Orocos project team.) My experience is that it is _very_ unlikely that you will be able to port your application seamlessly to a hard realtime environment, basically because most of your _drivers_ will not work in hard realtime. www.orocos.org is an open source project that focuses on realtime execution of (parts of) robot control. Since many years we are interested in making concrete links with Player, but the interest in real hard realtime has been very low in the Player community, for reasons that I understand (and approve of) very well. Similarly, the hard realtime robot control people are seldom interested in mobile robots, for similarly understandable reasons. But if you really need hard realtime, we are very interested in starting a concrete action to make both projects very well integrated! One trend that I think really needs hard realtime is that of "mobile manipulation" (i.e., a robot arm on a mobile platform, and the arm is interacting physically with its environment, including humans). But probably there are also other good reasons. So, the first thing to do, in my opinion, is to discuss for which parts you _really_ need hard realtime, and then we can cooperate in trying to achieve this together. FYI, Orocos runs on Linux, RTAI, Xenomai and eCos, for the time being. We started with RTLinux, but don't include it into our tests anymore. Herman Disclaimer: http://www.kuleuven.be/cwis/email_disclaimer.htm |