University of Twente Student Theses
ROS2 : Xenomai4 Real-Time Framework on Raspberry PI
Raoudi, I. (2024) ROS2 : Xenomai4 Real-Time Framework on Raspberry PI.
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| Abstract: | With the ever-growing robotics field , an increased need for experts in this field is needed. These future engineers have to be trained for research or development. The RaM group of the University of Twente is one of the institutes that train engineers. For this, a framework has been developed to set up a real-time embedded system as this takes up a lot of time. New technologies and tools have been made available since the development of this framework making the old framework outdated, therefore steps have been taken to create a new framework. The setup for the framework consists of a Raspberry Pi running a dual kernel architecture of Linux and Xenomai 4. Linux uses the ROS2 framework but which is good enough for soft real-time but not for firm real-time implementations. Xenomai 4 provides the firm real-time capabilities but misses a framework to provide the functionality. This framework is developed in this project and provides a firm real-time loop for computation and communication between the soft and firm real-time parts of the system. Additional functionalities/ properties added to the framework are easy to use in education, flexible for different use cases, monitoring and logging on the Xenomai kernel. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 53 electrotechnology, 54 computer science |
| Programme: | Electrical Engineering MSc (60353) |
| Link to this item: | https://purl.utwente.nl/essays/104808 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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