We want to execute real-time applications using a RTOS on typical heterogeneous embedded systems and compare the results with APP4MC. In order to achieve this goal we intend to extend the well-known POLARSYS and APP4MC Rovers. This new revision will include a significant increase of processing power based on an heterogeneous computing platform typically encountered in the automotive domain. Therefore, we will integrate the Nvidia Jetson TX2 Module into the new rover. All deliverables, i.e. guides on how to reconstruct this new revision of the rover as well as the new application along with its documentation will be published open source.