Jackie Kay (OSRF): Real-time Performance in ROS 2

| No Comments | No TrackBacks

Jackie Kay was upgraded from OSRF intern to full-time software engineer in 2014. Her background includes robotics education and path planning for autonomous lunar rovers. More recently, she's been working on bringing real-time computing to ROS 2.

Real-time computing isn't about computing at a certain speed-- it's about computing on schedule. It means that your system can return data reliably and on time, in situations where responding late is usually bad thing; and sometimes a really bad thing. Hard real-time computing is important in safety critical applications (like nuclear reactors, spacecraft, and autonomous vehicles), when taking too long thinking about something could result in a figurative or literal crash -- or both. Soft real-time computing is a bit more forgiving, in that things running behind have a cost, but the data are still usable, as with packets arriving out of order while streaming video. And in between there's firm real-time computing, where missing deadlines is definitely bad but nothing explodes (or things only explode a little bit), like on a robotic assembly line.

Making a system that's adaptable and reliable, especially in the context of commercialization, often requires real-time computing, and this is why integrating real-time compatibility is one of the primary goals of ROS 2. Jackie's keynote addresses many of the technical details underlying the ROS 2 real-time approach, including scheduling, memory management, node design, and communications strategies. To illustrate the improvements that ROS 2 has over ROS, Jackie shares benchmarking results of a ROS 2 demo running in real-time, showing that even under stress, implementing a high performance soft real-time system in ROS 2 looks promising.

To try real-time computing in ROS 2 for yourself, you can download an Alpha release and play around with a demo here: https://github.com/ros2/ros2/wiki/Real-Time-Programming

ROSCon 2015 Hamburg: Day 1 - Jackie Kay: Real-time Performance in ROS 2 from OSRF on Vimeo.

Next up: Dave Coleman (University of Colorado Boulder) Check out last week's post: State of ROS 2

No TrackBacks

TrackBack URL: http://www.ros.org/mt-tb.cgi/2611

Leave a comment

Find this blog and more at planet.ros.org.

Please submit content to be reviewed by emailing ros-news@googlegroups.com.

About this Entry

This page contains a single entry by Tully Foote published on April 15, 2016 12:46 PM.

Dirk Thomas, Esteve Fernandez, and William Woodall (OSRF): State of ROS 2 was the previous entry in this blog.

CTO - Full Time at Hurdler Motors, Inc. - Revolutionary Autonomous Transportation and Delivery Vehicles For Urban Spaces is the next entry in this blog.

Find recent content on the main index or look in the archives to find all content.