Enhancement of Real-Time Processing by Cooperation of RTM and TECS

Recently, RTM (Robot Technology Middleware) is attracting attention as a component oriented platform for robot development. However, RTM is unable to ensure real-time processing in CORBA because CORBA manages packets in a FIFO manager. In this paper, we propose a communication method from RTM to TECS in an effort to enhance realtime processing. TECS is a component system for embedded systems and suitable for real-time systems. We remove a part of real-time processing in RTM. Moreover, TECS is added to enhance real-time processing because TECS support a real-time processing requirements. In addition, it is possible to generate the components to communicate from RTM to TECS by using a plug-in. In the evaluation, cycle counts between RTM and TECS are compared with those between RTM and RTM. Furthermore, the amount of codes which are generated code with the purpose method and written code by developers are compared.