Abstract
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 microcontroller, and the portability test was made under Microsoft Windows 10, with a Texas Instruments LM3S Stellaris board. All presented components are published on the wiki ROS link: http://wiki.ros.org/FreeRTPS%2BFreeRTOS.
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da Silva Medeiros, L., Julio, R.E., Almeida, R.M.A.d., Bastos, G.S. (2019). Enabling Real-Time Processing for ROS2 Embedded Systems. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 778. Springer, Cham. https://doi.org/10.1007/978-3-319-91590-6_14
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