Can I read Enabling Real-Time Processing for ROS2 Embedded Systems on EtoBox?

Enabling Real-Time Processing for ROS2 Embedded Systems by Lucas da Silva Medeiros; Ricardo Emerson Julio; Rodrigo Maximiano Antunes de Almeida; Guilherme Sousa Bastos is a book available to read on EtoBox.

What is Enabling Real-Time Processing for ROS2 Embedded Systems about?

Our research aims to integrate FreeRTPS, a portable and minimalist RTPS (Real-Time Publisher-Subscriber), an implementation that provides an option for embedded ROS2 (Robot Operating System), applications where RAM(Random Access Memory)/ROM(Read-Only Memory) size is a critical factor, with FreeRTOS, a free real-time operating system for microcontrollers and small microprocessors. As a result, we have a portable system that enables sensing and the possibilities of real-time processing, while communicating with ROS2 nodes in small and low-cost devices. Even having tools to implement internal real-time processing the system not ensure that the communication with other nodes will have real time constraints, once that we look for processing and not communication real-time. Real-time processing is an important component especially in Robotics where many applications require some data processing as it comes in, what means that they need processing with time requirements. The chapter shows some concepts, how the system was developed, how to implement it on the STM32F4 microcontroller and some tests to show its capabilities. The main system was developed under Ubuntu 16.04, with a STM32F4 m

Author

Lucas da Silva Medeiros; Ricardo Emerson Julio; Rodrigo Maximiano Antunes de Almeida; Guilherme Sousa Bastos

Publisher

Springer International Publishing : Imprint: Springer

Published

2018

Language

EN

ISBN

9783030062583

Subjects

Engineering, Computer Science, Stem