IROS: A Hard Real-time Intelligent Robot Operating System

This paper gives an overview of an intelligent robot operating system: IROS. Taking the open-source robot operating system (ROS) as a reference, the existing characteristics of the system and some difficulties in practical applications are summarized, and a complete IROS is redeveloped based on the problems encountered and the needs of users. Two versions of IROS have been publicly released: IROS V1 and IROS V2. And now, we are working on developing an upgraded version of IROS V3.x. IROS has excellent performance in real-time, stability, security, and other aspects. IROS particularly has hard real-time performance, which is a powerful improvement compared to ROS performance. This paper introduces the architecture, core functions, performance testing, and application scenarios of IROS. In addition, we also explain several core technologies in IROS, compare some technical indicators with ROS, and discuss future work.