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TheROS2Vision
ForAdvancingtheFutureofRoboticsDevelopment
Sep.21st2017
DirkThomas,MikaelArguedasROSCon2017,Vancouver,Canada
"Unboxing"
Iconsmadeby pikfrom islicensedbyCC3.0BY
GettingStarted
commanddata
data
MovingOutdoor
commanddata
data
QualityofService
Compue
Robot
joysticknode
/cmdvel
flightcntrlnode
imageviewnode
beste?ort
cameranode
/image
reliable
ExtendCapabilities:Hardware
Compue
Robot
imageviewnode
/image
cameranode
imageviewnode#2
cameranode#2
Renametopicatruntime
/image2
ExtendCapabilities:Soware
Robot
/cmdvel
flightcntrlnode
/obstaces
/imagele
/imageright
lecameranode
rightcameranode
stereoimagepipelinenode
Recap#1
Multi-OSsupport:Linux,MacOS,WindowsBinarypackagesforMacOSandWindows
Di?erent librariessharecommonimplementationQualityofService:varietyofconfigurationoptions
DDSprovidesevenmoreconfigurationoptions,directlyaccessible
Hardwarewith"native"communicationinterface(noneedforseparateprotocolsanddriverpackages)
Eventbasednotifications(ratherthanneedforpolling)Remapoftopicsatruntime
UndeterministicStartup
Robotnodesready
/cmdvel
flightcntrlnode
/obstaces
noobstaclesreported
/imagele
/imageright
lecameranode
rightcameranode
stereoimagepipelinenode
nodenotready
LifecycleStateMachine
unconfigured
inactive
finalized
active
DeterministicStartup
Robotallactive
/cmdvel
flightcntrlnode
/obstaces
Readytofy
/imagele
/imageright
lecameranode
rightcameranode
stereoimagepipelinenode
/cmdvelreliable
/imagebeste?ort
CoexistancewithROS1
runningROS1
UsagePatternsofthe"ros1_bridge"
Beta
TurtleBot2demo
RobotusingROS2onboardComputerusesROS1tools,leverageexistingROS1packages
Beta
HSRdemo(see talk)RobotusingROS1onboardComputerusesROS2tools,leverageintrinsicadvantages
ofthecommunicationprotocol
Usageofthe"ros1_bridge"
ROS1Robot
/cmdvelreliable
flightcntrlnode
ros1bridgenode
processingnode
/imagebeste?ort
cameranode
UsagePatternsofthe"ros1_bridge"
Beta
TurtleBot2demo
RobotusingROS2onboardComputerusesROS1tools,leverageexistingROS1packages
Beta
HSRdemo(see talk)RobotusingROS1onboardComputerusesROS2tools,leverageintrinsicadvantages
ofthecommunicationprotocol
IncrementallymigrateaROSsystem
Robot
o
o
bridge
MultiRobot
Distributeddiscoveryusefulforon-demandrobot-to-robotcomm.
AllcurrentROSmiddlewareimplementationssupportitAslongasallrobotsusethesamecomm.protocol
theycancommunicate(independentofthevendor)
QualityofServicesettingstotailorthecomm.forthespecificscenario
(seeeProsima'stalk@11:35)
Dynamicremapoftopicsenablesvariousdi?erentapproaches,e.g.:
Flipnamespacedrobotspec.topicstobe"global"
/robotA/pose
/pose
→
Subscribetoaspecifictopicfromagroupofrobots
/**/pose
/floor2/*/pose
or
AddingaCustomSensor
receivenode
/foundbeacon
Poseestim.node
GPSreceivernode
SameROS2code!
Beacon
Robo MCUmodule
Home
FlightControllerInternals
Flightcontrollernode
Su
/foundbeacon
cipionthred
Realtmehead
Pul aionthred
/return_home
Lifecyclenodes
Recap#2
BasicPython-basedlaunchfiles
Launchutilizinglifecyclestatemachine
Dual-homebridgetoexchangemsgs/srvsbetweenROS1andROS2Moreconfigurationoptions
Multirobotbenefitingfromthecommunicationprotocol:distributeddiscovery,configurableQoS,dynamicremap
"Native"communicationprotocolwithmicrocontrollers(DDS-XRCE)Proofofconceptforrealtimesupportusingcustomallocators
Nousageofrealtimekernelyet,nocontinuoustesting
ProcessLayoutDecision
Robot
/cmdvel
flightcntrlnode
Saveconfigurationaslaunchfile
/imagele
/imageright
SingePocess
lecameranode
stereoimagepipelinenode
rightcameranode
FaultToleranceandFallbackBehaviors
Fallbackbehavior#2:switchtomonoculardet.
rightcameanode
/image
mono.obst.detectnode
UnsecureSystem
commanddataCommandspoofed
data
SecuringtheSystem
commanddata
Authentication
Encryp
sitivedata
data
ValidationandCertification
Usecertifiedhardwarecomponents(whichtalksDDS)UsecertifiedDDSimplementation
Usecertified/validatedsowarecomponents
SelectonlythesubsystemsofROS2whicharerequiredfortheusecaseBuildyourownsubsystemontop
→Reducede?orttovalidatethecustomapplicationbyUsingcertifiedsubsystem
Reducingfootprintasmuchaspossible
Recap#3
Chooseprocesslayoutatdeploytime
Supportfromlaunchtoeasilyconfigurethis
Eventbasedsystemprovidingtheinfrastru
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