Distributed and Synchronized Setup towards Real-Time Robotic Control using ROS2 on Linux

摘要

A monolithic black-box controller made by the individual robotic manufacturers commonly controls modern industrial robots. The setup's single components are not accessible nor exchangeable, often due to them being specially tuned and adjusted to fulfill the demanding requirements for robotic control. The open-source framework ROS enables to combine these monolithic controllers with simple interfaces, therefore allowing more complex robotic applications. The next generation, ROS2, targets highly modular systems of sensors, actuators and controllers, each being interchangeable and further providing real-time capabilities by employing DDS as middleware. This study uses system inherent tools alongside non-invasive measurements for comprehensive insights, thereby guiding to ROS2 applications on an underlying distributed and synchronized real-time Linux system.