Sub issue of #3

@sampreets3 to push the Ubuntu/ROS documentation in here, follow these steps :

1. Pull the current state to your fork | Pull the current state on your local version of the repo
2. Create a new branch (name is ubunturos or ubuntu-ros or whatever you like : meaningfull and short )
3. Start the document.
4. Commit an initial commit for the branch.
5. Open a pull request from your branch to the master-coro/rtros-documentation/master branch. Name it ( "WIP: Document #11").
6. Put me as reviewer.
7. Link the project ( in the right tool bar ) and the Issue if it wasn't done automatically ( should be done when you mention #11 in the title )
8. When you're done working on the PR, remove the WIP status in the title and notify me in the comments
9. I merge.

And for every issue we work on we should use those steps to implement, just to get use to the typical Github workflow !

EDIT : you don't have to fork, you can just clone the main repo since we're Maintainers
just do all the steps on this repo instead of your fork.

• Specify versions of Xenomai/Linux Vanilla/IPIPE
• Grub installation ( just link it to Sampreet's post )
• Troubleshooting file ? Finish the end of tutorial.
• Redo the tutorial following the given steps ( maybe Sampreet could do it )

Build an application on top of this new environment and show how performance is enhanced. (metrics to be determined)

How to [current practice]

1. git clone https://github.com/master-coro/rtros-documentation.git
2. git checkout master
3. git pull
4. git checkout -b issue-x OR git branch issue-x && git checkout issue-x with x being the number of the issue
5. Add & Commit your changes
6. git push -u origin issue-x
7. Go to https://github.com/master-coro/rtros-documentation/pull/new/issue-x to open the PR

How to [better than our current practice]

1. Fork the project
2. Clone your fork
3. Follow the first chapter starting point no 2

What could I do wrong

• You didn't pull before changing the current branch
• You pulled a deprecated/late branch
• ...

How do I fix it

1. Copy what you did
2. git checkout master && git pull
3. git branch issue-x && git checkout issue-x
4. Paste what you did
5. Follow the first chapter starting poit no 5

Sub issue from #3...

• choose an example package
• observe metrics for Xenomai+ROS2 || No Xenomai
• build a "homemade" package

Ubuntu

Xenomai

• Specify versions of Xenomai/Linux Vanilla/IPIPE
• Grub installation
• Troubleshooting file ? Finish the end of tutorial.

Overview

• Give precision about environment accuracy in µs : which processor ? Features of the computer!
  Comparisons with the same computer, not with different one because of architecture changes!

ROS Packages

• Classify Packages better ( toolsing, packages )
• Include ROS2 and compare it with ROS

Purpose

Compare Linux+ROS | Linux+ROS2 | Linux+ROS2+Xenomai

Metrics

Jitters, Latency

Plan

• ROS Overview
• ROS Distros Overview
• We chose MELODIC - because we use 18.04
• Link to script
• Say it's unadvised to run script without reading the tutorial first ( may or may not break things the person don't understand )
• Tutorial
• Test if it's working

Context

ROS Extensions

Conclusion

Link or Reference

Real-time control architecture based on Xenomai using ROS packages for a service robot. Written by Raimarius Delgadoa, Bum-Jae Youb, Byoung Wook Choi.

Link

Context

This paper proposes a real-time (RT) control architecture based on Xenomai, an RT embedded Linux, to control a service robot along with non-real-time (NRT) robot operating system (ROS) packages.

Brief

UC

Possible Implementation

UC

Making tutorial posts look all the same

• Ubuntu post

@sampreets3 if you don't think you have time to do it I will, it's just instead of using an ordered list for the steps, use chapters, same as what you did with ROS. Shouldn't be too long.

• ROS Stacks classification ( single packages, toolboxes, group of packages [stack] )
• Include ROS2 research and packages, i.e. probably the one we're going to benchmark
• Point out the enhancements brought by ROS2 on timing guarantees. (ROS2 is better but it does not provide any hard real-time guarantees.)

hey @sampreets3 in the Ubuntu Installation post, on step 4, you call it the "ubuntu menu" which is actually the grub bootloader, which I guess you could add insight on

Setup Environment ( Ubuntu/Xenomai/ROS ). Document it as a tutorial/walkthrough.

• Explain why the project is important

Let us assume we use a traditional pc architecture... (x86, 3 GHz clock)

Feature Request

Find a good template for github pages and add it here to have a "portfolio" of the project.

List the existing real-time extensions made for ROS. Point out the enhancements brought by ROS2 on timing guarantees, although ROS2 is better it does not provide any hard real-time guarantees.