A Middleware Journey from Microcontrollers to Microprocessors
Michael Pöhnl, Alban Tamisier, Tobias Blaß · 2022
This paper discusses some of the challenges we encountered when developing Apex.OS, an automotive grade version of the Robot Operating System (ROS)2. To better understand these challenges, we look back at the best practices used for data communication and software execution in OSEK-based systems. Finally we describe the extensions made in ROS2, Apex.OS and Apex.Middleware to meet the real-time constraints of the targeted automotive systems.