ROSCH

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ROSCH

Real-time extension modules for ROS. The supported functions include:

• Measurer : Measure the execution time for ROS nodes
• Analyzer : Analyze ROS nodes (Offline).
• Scheduler : Schedule ROS nodes with Fixed-Priority policy.
• Tracer : Visualize a scheduling result for ROS nodes.
• Tool : Generate YAML files for using above functions.

Requirements

• ROS indigo (Ubuntu 14.04) or ROS kinetic (Ubuntu 16.04)
• CUDA (Optional)

Coding Standards

The following are regarding coding standards preferred in ROSCH. No need to throw away your coding style, just do your best to follow our standards.

• See CPFL/Autoware/wiki/Contribution-Rules#coding-standards

How to install and use ROSCH

1. [Recommend] You can create configuration files for using following functions, automatically.
   • See docs/README.tool.md
2. Do you want to use Measurer ?
   • See docs/README.measurer.md
3. Do you want to use Analyzer ?
   • See docs/README.analyzer.md
4. Do you want to use Scheduler ?
   • See docs/README.scheduler.md
5. Do you want to use Tracer ?
   • See docs/README.tracer.md

Once ROSCH is successfully installed, you can install GPU scheduler:

1. Do you want to use Linux_RTXG ?

• See Scheduler/RESCH/README.md