RealTime Systems Evaluation for Robotics Using the HartROS Benchmark Robotic systems frequently have features that make them to operate in a realtime system (RTS). Therefore, it is proposed a benchmark whose objective is the realtime performance evaluation of a system configuration for use in robotics. The system to be evaluated must provide some kind of fixedpriority preemptive scheduling. The publishersubscriber paradigm is used to evaluates the realtime communication performance, because it is considered widely accepted in robotics community. If the RTS does not contain the paradigm natively, it must be implemented using one of its APIs (Application Programming Interface). The performance evaluation is made inscreasing some system parameter and veryfing if the tasks do not lose deadlines. As case study, a RTS configuration was developed in an embedded system using Linux coupled to a realtime cokernel. The results obtained in this case study present the benchmark practical value and the viability of the developed configuration as a realtime robotics controller.

Motion Generation Interface of ROS to PODO Software Framework for Wheeled Humanoid Robot This paper discusses the development of robot motion generation interface between a realtime software architecture and a nonrealtime robot operating system. In order for robots to execute intelligent manipulation or navigation, close integration of highlevel perception and lowlevel control is required. However, many available opensource perception modules are developed in ROS, which operates on Linux OS that donu0027t guarantee RT performance. This can lead to nondeterministic responses and stability problems that can adversely affect robot control. As a result, many robotic systems devote RTOS for lowlevel motion control. Similarly, the humanoid robot platform developed at KAIST, Hubo, utilizes a custom realtime software framework called PODO. Although PODO provides easy interface for motion generation, it lacks interface to highlevel frameworks such as ROS. As such, we present a new motion generation interface between ROS and PODO that enables users to generate motion trajectories through standard ROS messages while leveraging a realtime motion controller. With the proposed communication interface, we demonstrate series of manipulator tasks on the actual wheeled humanoid platform, MHubo. The overall communication interface responsiveness was at most 27 milliseconds.