• Corpus ID: 234469855

Budget-based real-time Executor for Micro-ROS

@article{Staschulat2021BudgetbasedRE,
  title={Budget-based real-time Executor for Micro-ROS},
  author={Jan Staschulat and Ralph Lange and Dakshina Dasari},
  journal={ArXiv},
  year={2021},
  volume={abs/2105.05590}
}
The Robot Operating System (ROS) is a popular robotics middleware framework. In the last years, it underwent a redesign and reimplementation under the name ROS 2. It now features QoS-configurable communication and a flexible layered architecture. Micro-ROS is a variant developed specifically for resource-constrained microcontrollers (MCU). Such MCUs are commonly used in robotics for sensors and actuators, for timecritical control functions, and for safety. While the execution management of ROS… 

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