Real-time extension of ROS based on a network of modular blocks for highly precise motion generation

In this paper a solution is presented, which extends the network of non-real-time-capable ROS nodes (Robot Operating System) by a modular network of configurable and real-time-capable blocks with control and path planning functionalities. By means of this solution, ROS can be coupled with real-time algorithms from the field of industrial path planning controls, such as spline interpolation (e.g. Akima, B-spline). Furthermore, the real-time network can communicate directly with industrial hardware via real-time bus protocols established in the industrial automation technology. The available engineering-tool allows to model the real-time network in a user-friendly way. Custom real-time blocks can be generated from C++ code.