Hi Jürgen, Thanks for your reply. I am basically setting up this control framework for use with EtherCAT enabled devices (I will do the setup for EtherLab, and ROS), so I am looking for hard real time requirements - the system will be used for robot control primarily. I have searched the internet for RT-Preempt kernel based installations, but have heard that there is a significant latency introduced into the system. At this point, I can't really comment on how that would affect any specific performance objectives, so I thought of trying out Xenomai from the word go.
I am still onto the Xenomai installations and I think it would work out after some efforts, but could you please direct me to the appropriate link from where I can get the information to setup my machine for RT-Preempt based packages? I would have to move to that if this doesn't work out. Thanks again for your prompt reply. Regards, Ankit On Sun, Apr 21, 2013 at 2:13 AM, Jürgen Kunz <[email protected]>wrote: > Hi Ankit, > > what are the real time requirements of your application? You may try the > RT-Preempt kernel and have a look if it fulfil the real time requirements. > It is much easier to develop real time software with it, as with Xenomai or > RTAI. We use the 3.2er Debian RT-Preempt Kernel from the Debian repository > in Ubuntu 12.04 to control a 4 to 6 DoF robot arm with joint elasticity in > combination with Orocos to build up the real time control and ROS for > network communication between different parts of our software, and it works > well. > > Regards, > Jürgen > > > Am 21.04.2013 00:10, schrieb Ankit Goila: > > Hi, > > I am working on setting up a real time control framework on my machine > with Ubuntu 12.10 installed (Linux 3.5.0-17-generic). I have tried using > the RTAI package but I have had a series of failures while trying to get > that to work (it expects a Linux kernel of 2.6.35.9). > > I am planning to use Xenomai to set up my real time kernel and then > install etherlab. With the same requirements of etherlab for linux kernel, > what should I do to make this installation hassle free? Should I install an > older version of Ubuntu and configure it with a similar Xenomai kernel OR > would a 3.5.7 xenomai kernel work with etherlab installations? > > I am confused between these compatibility issues and will be really > grateful if anyone could help me out. > > Thanks, > > Ankit > > -- > Ankit Goila > U-M ID: 83509056 > Graduate Student (2012-2014) > M.S.E Mechanical Engineering > University of Michigan, Ann Arbor > Contact: 734-747-0829 > > > > _______________________________________________ > etherlab-users mailing > [email protected]http://lists.etherlab.org/mailman/listinfo/etherlab-users > > > -- > Dipl.-Inform. Jürgen Kunz > > Technische Universität Darmstadt <http://www.tu-darmstadt.de> > FG Simulation, Systemoptimierung und Robotik<http://www.sim.tu-darmstadt.de> > Hochschulstr. 10 > 64289 Darmstadt > > Tel.: ++49 (0) 6151-16-70383 > Fax: ++49 (0) 6151-16-6648 > E-Mail: kunz(at)sim.tu-darmstadt.de > Homepage: http://www.sim.tu-darmstadt.de > -- Ankit Goila U-M ID: 83509056 Graduate Student (2012-2014) M.S.E Mechanical Engineering University of Michigan, Ann Arbor Contact: 734-747-0829
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