ROS 2 RTWG goals

[carlossvg]

Action item

• Create PR to update this document with the goals, vision and mission: https://real-time-working-group.readthedocs.io/en/latest/index.html

Draft

• Mission

  • represent an official position of the ROS 2 community on the real-time
  • to be an informational hotspot for the ROS 2 real-time community (collect and assess various information)
  • to provide guidelines of how to configure and run real-time ROS2 system on various real-time OSes
  • improve ROS 2 real-time behavior

• Add documentation

  • ROS 2 real-time status
  • Configure and build RT kernel
  • How to create a ROS 2 real-time application
  • collection of links to various ROS 2 real-time resources (papers, source code, tests etc.)

• Create or reuse ros2 real-time reference application(s)

• Work with OS vendors to add a support for the real time OSes as Tier 3

  • Linux with RT kernel
  • QNX => Provide support for ROS 2 on QNX #5
  • VxWorks => https://github.com/Wind-River/vxworks7-ros2-build

• Setup a real-time test farm

  • Acquire HW and set it up => Provide HW for the performance testing #3
  • Create or reuse ros 2 realtime tests
    • Select ROS 2 executor to test (middleware WG, static executor,not a default)
      • https://github.com/ros-realtime/rt-kernel-docker-builder
    • Consolidate Performance Test Tools for ROS 2 #6
    • Carry out performance test measurements for ROS 2 stack #7
    • Produce a ROS 2 build