Universal_Robots_ROS_Driver Is it possible using xenomai for rtde?

Hi, i want to use ur-rtde and ur robot driver.

Now, i'm using xenomai 3 and 5.4.102-xenomai-3.1 kernel.

Is it possible using xenomai instead PREEMPT_RT for rtde?

Mar 25 '23 16:03 seungjaemoon

And I have one more question.

what's the difference between using servoj with ur robot driver and direct use of servoj with ur rtde?

Mar 26 '23 14:03 seungjaemoon

This issue has not been updated for a long time. If no further updates are added, this will be closed automatically. Comment on the issue to prevent automatic closing.

Jun 24 '23 22:06 github-actions[bot]

Sorry for not answering this so far. I am not familiar with xenomai and therefore cannot give a qualified answer.

Regarding the second question: The difference lies in the underlying communication structure and the actual application interface. Which one fits your application better, you'll have to decide.

Jul 03 '23 04:07 fmauch

Xenomai is "just another way" to achieve determinism on a Linux system (don't tell the Xenomai devs). It's a co-kernel approach, which arguably achieves lower latencies and jitter than a PREEMPT_RT.

Similar care as with PREEMPT_RT would have to be taken to not break determinism, but it should be possible to use it with ur_robot_driver in a similar way.

(no guarantees though as Xenomai tends (or tended to be) a little bit more picky when it comes to which APIs are allowed/supported in an RT context)

Jul 03 '23 07:07 gavanderhoorn

I don't think I'll have anything to add to what has been written. Therefore, closing this.

Jul 03 '24 09:07 fmauch