I was wondering about real-time patches for ROS, such as Orocos, and their actual efficiency.
I am quite new in the field of RT stuff, but as I read that ROS wasn't an real-time software, I consider that it is lacking the ability to make sure that its cycles, communication protocols and other will be done each in a given time.
So the actual question is, in which way does the use of any RT tool kit make ROS real-time? I mean, the core process would still be the same, with the same timing uncertainty problems, so at which level does the RT patch acts? And is it really efficient?
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Comment by gvdhoorn on 2015-03-27:
Just to clarify: OROCOS is not a 'real-time patch' for ROS. It is a stand-alone framework. It can be integrated into a ROS application (but the same is true for many other frameworks / tools). OROCOS indeed supports the creation of real-time component-based systems.
Comment by francoisdtf on 2015-03-27:
@gvdhoorn Okay, sorry for the misuse of the word. My question remains though, but maybe this formulation would be better : if using a real-time tool together with ROS within a system, wouldn't the use of ROS make the whole system non-realtime?