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RTCF: A framework for seamless and modular real-time control with ROS

Fennel, Michael; Geyer, Stefan; Hanebeck, Uwe D.


Owing to the steady progress in the field of Linux kernel development, high-performance control applications are no longer a rarity on general-purpose computing platforms. However, many real-time control libraries lack important properties such as modularity, effortless integration, and encapsulation. These are key design features of the popular Robot Operating System (ROS) that is, however, not real-time capable. We aim to solve this issue by introducing the Real-Time Control Framework (RTCF), which offers high modularity, ROS-related concepts leading to seamless interoperability with ROS, and high performance. To demonstrate the capabilities of the RTCF, we provide several examples and exemplary performance data.

Verlagsausgabe §
DOI: 10.5445/IR/1000138685
Veröffentlicht am 06.10.2021
DOI: 10.1016/j.simpa.2021.100109
Zitationen: 1
Zitationen: 1
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2021
Sprache Englisch
Identifikator ISSN: 2665-9638
KITopen-ID: 1000138685
Erschienen in Software Impacts
Band 9
Seiten Art.-Nr.: 100109
Schlagwörter Robotics; Real-time; Control; Robot Operating System; Linux
Nachgewiesen in Scopus
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