Table 1 Software components of the controller
From: ROS2 Real-time Performance Optimization and Evaluation
Item | Description | Version |
|---|---|---|
Ubuntu | Linux distribution | 22.04 |
Linux kernel | Linux kernel | 5.15.55 |
Preempt_RT | Linux kernel patch | 5.15.55-rt48 |
ROS1 | first-generation robot operating system | Noetic |
ROS2 | Second-generation robot operating system | Humble |
EtherCAT master | Industrial Ethernet Fieldbus | acontis |