[ilaksh]

What's the status of this ROS 2 real-time proposal http://design.ros2.org/articles/realtime_proposal.html

What sort of structure would make more sense than the ad-hoc rules?

Do you have comprehensive profiling for the latency or logging so you can detect when there is a lag and then patch ROS or the TCP stack or whatever is causing it?

I can see how reliability is critical, but whether it is so important to be actually real-time is less obvious. If you can get latency variability down to within about 1 ms, is that not adequate to greatly exceed human capability?

I guess when it comes down to it there needs to be some certainty that there cant be a big hiccup that creates a big latency spike. So whatever underlying Linux or whatever needs to be real-time in that sense. And there needs to be a real-time backup system that cuts in if the other system takes too long to react (hits a hiccup which it is not supposed to be able to).

I mean, if your idea is to throw everything out and start over with a real-time OS and some bespoke NNs, is it quite certain that any team would actually be able to replicate the task integration and actual functionality of the system you have with that approach?