Connecting ROS to the LUNA embedded real-time framework

In this document, a report is presented showing the design, implementation and test results of a ’bridge’ between ROS and LUNA, an embedded real-time capable framework. This bridge allows a combination of both computational tasks and more mobile setups, by offloading complex algorithms from the robot to a basestation running ROS, while hard real-time tasks remain close to the robotic setup on an embedded processor running the LUNA framework. The design process, verification and testing of this bridge is reported in this document.