天脉1实时操作系统的机器人框架移植方法研究

Research on Robot Framework Port Method Based on ACoreOS

首先对ROS机器人框架进行了简单介绍;然后调研其在开源Linux非实时通用操作系统、绿山公司INTEGRITY RTOS实时操作系统、风河公司VxWorks7、Zephyr实时操作系统的移植适配情况;最后,基于i.MX6Q ARMv7a多核处理器平台,在天脉1实时操作系统上对机器人框架的移植适配方法进行了研究。

Firstly,the paper introduces ROS Robot Framework briefly.Secondly,it gives a survey about the ROS port state on open-source Linux non-rtos,green hills integrity rtos,wind River VxWorks7 RTOS/Zephyr RTOS.Finally,based on i.MX6Q ARMv7a multi-core processor platform,the transplantation and adaptation method of robot framework on ACoreOS real-time operating system.