I am new to real-time control in ROS. When I looked up it in this wiki, integrating ROS and OROCOS and using Xenomai seems to be a good solution for it. I don't have a high level understanding of the advantage of using them. If you could share your insight into it with me, I would really appreciate it.
I can enumerate several possible set-ups for real-time control in ROS although some of these may not make sense.
- ROS on Ubuntu
- ROS on Xenomai patched Ubuntu
- ROS+OROCOS on Ubuntu
- ROS+OROCOS on Xenomai patched Ubuntu
We may scarcely be able to expect any good real-time performance on (1). How/why bad is it? Would be there any improvement in using (2) over (1)? How would (3) be different to (4) in real-time performance? Do you have any other recommended set-up? Dose it need to be broken down into some subdivided set-ups?
Thank you very much in advance.
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