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ROSCH

Real-time extension modules for ROS. The supported functions include:

  • Measurer : Measure the execution time for ROS nodes
  • Analyzer : Analyze ROS nodes (Offline).
  • Scheduler : Schedule ROS nodes with Fixed-Priority policy.
  • Tracer : Visualize a scheduling result for ROS nodes.
  • Tool : Generate YAML files for using above functions.

Requirements

  • ROS indigo (Ubuntu 14.04) or ROS kinetic (Ubuntu 16.04)
  • CUDA (Optional)

Coding Standards

The following are regarding coding standards preferred in ROSCH. No need to throw away your coding style, just do your best to follow our standards.

How to install and use ROSCH

  1. [Recommend] You can create configuration files for using following functions, automatically.
  2. Do you want to use Measurer ?
  3. Do you want to use Analyzer ?
  4. Do you want to use Scheduler ?
  5. Do you want to use Tracer ?

Once ROSCH is successfully installed, you can install GPU scheduler:

  1. Do you want to use Linux_RTXG ?

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