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Minimal ROS 2 real-time cookbook recipes

Collection of ROS 2 minimal examples showing how to leverage different POSIX and ROS 2 features to create real-time applications.

TODO: Add other packages after review (currently in rolling-experimental branch):

Requirements

Build instructions

Create workspace

$ mkdir -p ros2_realtime_examples_ws/src
$ cd ros2_realtime_examples_ws/src
$ git clone https://github.com/ros-realtime/ros2-realtime-examples.git
# Optional: Build rmw_iceoryx for zero-copy examples
$ git clone https://github.com/ros2/rmw_iceoryx

Install dependencies

Use rosdep to install the required dependencies:

$ cd ros2_realtime_examples_ws
$ rosdep install --from-paths src/ --ignore-src --rosdistro=rolling

Build

Build examples

$ cd ros2_realtime_examples_ws
$ colcon build

Note: Some examples might require to install additional RMW implementations