A Middleware Journey from Microcontrollers to Microprocessors
Michael Pöhnla, Alban Tamisierb and Tobias Blassc
Apex.AI
amichael.poehnl@apex.ai
balban.tamisier@apex.ai
ctobias.blass@apex.ai
ABSTRACT
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 ROS 2, Apex.OS and Apex.Middleware to meet the real-time constraints of the targeted automotive systems.
