Setting up the Hardware-Software Architecture for a real time mobile robot

[Rabeya Jamshad]

Hello,

I am trying to set up an indoor diff drive mobile robot. I understand that for safe operation around people I will need to implement some sort of deterministic behavior with my velocity and position control(the diff drive base supports a structure containing arms as well). I am a previous ROS user with some basic understanding of ROS but have still to get started with ROS2. As ROS is not real-time whereas ROS2 is, should I just switch over to ROS2? 

If I continue to use ROS what can be the pros of using the following options:

1. Using ROS on a linux platform and using rosserial to comunicate with embedded controllers such as the STM32 to run real-time control for position and velocity

2. Using ROS+OROCOS

3. Using ROS+ros_control

Thank you.