What are the main differences between rosrt and realtime_tools?

asked 2013-12-16 23:24:00 -0600

Pablo Iñigo Blasco

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updated 2013-12-17 22:00:47 -0600

Adolfo Rodriguez T

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In ROS we can find two different packages to use publishers and subscribers in real-time:

realtime_tools (in ros_control) http://wiki.ros.org/realtime_tools?distro=hydro
rosrt (in ros_realtime) http://wiki.ros.org/rosrt?distro=groovy

The capacities of both packages look overlapped. Is any of them obsolete? Are they being developed by different research groups? realtime_tools looks more updated, however it does not provide a realtime subscriber. What are the main differences? What are the future guidelines of each project?

answered 2013-12-17 09:42:02 -0600

Adolfo Rodriguez T

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They indeed complement and overlap each other. realtime_tools is part of ros_control and used/maintained. I don't know about the status of ros_realtime, but at least it has functionality that is currently lacking in realtime_tools. I wondered the same thing as you some months ago, but did not have the resources to get it done.

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But I do not understand why ros_control package (that is a quite new package) contains functionality that existed previously. It should exist some reason. I don't know, for instance, does the realtime_tools::RealTimePublisher provide any advantaje over the rosrt::Publisher?

Pablo Iñigo Blasco ( 2013-12-26 22:09:33 -0600 )edit

Both packages existed pre-ros_control. One was included in ros_control and updated as it provided some baseline functionality. The effort to do the same for `ros_realtime` and unify implementations has not yet been done.

Adolfo Rodriguez T ( 2013-12-30 10:32:59 -0600 )edit

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What are the main differences between rosrt and realtime_tools?

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