Building Low-Latency Robot Control Systems with FreeRTOS and ROS2

Real-time responsiveness isn't just a performance goal in robotics-it's a necessity. Real-Time OS for Robotics is your step-by-step guide to building ultra-reliable, deterministic robot control systems using FreeRTOS and ROS2.

This book bridges the gap between real-time embedded systems and high-level robot intelligence. Whether you're developing autonomous vehicles, industrial arms, or swarm robots, you'll learn how to integrate real-time task scheduling with ROS2 communication to achieve predictable, mission-critical performance.

Inside, you'll master:

• Setting up FreeRTOS on ARM Cortex-M and other embedded microcontrollers

• Interfacing FreeRTOS tasks with ROS2 nodes via micro-ROS

• Designing low-latency sensor and actuator pipelines

• Managing RTOS priorities, interrupts, and preemption for optimal control

• Implementing deterministic behavior for robot motion, sensing, and feedback loops

• Synchronizing time across distributed systems using ROS2 and RTOS clocks

• Debugging, profiling, and optimizing real-time performance on hardware-in-the-loop setups

From edge devices to full robotic stacks, this book teaches you how to design robots that respond instantly, consistently, and reliably-every time.

?? Ideal for embedded developers, robotics engineers, and real-time systems architects