1. Definition
From ROS2 Design
- Determinism
- Deadline
- Quality of Service
Real-time software guarantees correct computation at the correct time.
It needs 2 parts
- Real time system
- Real time code
KEY: DEADLINE Ref
- Just finish the job before or after deadline
2. Coding
Low level code:
- almost everything should be in real-time
Decision algorithm:
- important to implement in some Key decision, like when to stop
Synchronization between devices
- start the motor at the same time
3. Implementation Consideration
- Using Deterministic algorithm
- fixed-point arithmetic, state machines, and lookup tables.
- Prioritize task
- Tasks with lower priority can be preempted or delayed if necessary to allow high-priority tasks to be executed
- This is typically achieved through the use of priority-based scheduling algorithms.
- Use interrupts