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Sony R&D Robotics System Architecture with ROS
Tomoya Fujita @ Sony Corporation R&D Center
__ Sony R&D Robotics System Architecture with ROS __
Agenda
Introduction
Sony Robotics Architecture
ROS Product & Technical Extension
ROS Eco-System
ROS2 Activity
Distributed System
Kubernetes on Edge
Dynamic Cluster Reconfiguration
__ Sony R&D Robotics System Architecture with ROS __
Who am I?
Tomoya Fujita
Sony R&D Center, Tokyo Lab
github
linkedin
ROS Related Work
ROSCon2018 Presentation
ROSCon2019 Panel Talk
ROSCon2019 LT
__ Sony R&D Robotics System Architecture with ROS __
__ Sony R&D Robotics System Architecture with ROS __
__ Sony R&D Robotics System Architecture with ROS __
__ Sony R&D Robotics System Architecture with ROS __
__ Sony R&D Robotics System Architecture with ROS __
ROS Transport Overview
__ Sony R&D Robotics System Architecture with ROS __
ROS Transport Extended
__ Sony R&D Robotics System Architecture with ROS __
Github Repository
https://github.com/fujitatomoya/ros_comm/tree/topic-kinetic-devel-uds-support
https://github.com/fujitatomoya/ros_comm/tree/topic-melodic-devel-uds-support
Contributor
Tomoya Fujita Tomoya.Fujita@sony.com
Barry Xu Barry.Xu@sony.com
__ Sony R&D Robotics System Architecture with ROS __
ROS Eco-System
Open Source
Meta-Operating System Support
Publisher/Subscriber
Architecture
Simulation
Visualization
Debug Utility
Hardware Abstraction
__ Sony R&D Robotics System Architecture with ROS __
__ Sony R&D Robotics System Architecture with ROS __
ROS2 Activity
eProsima FastDDS Shared Memory Project
ContentFilteredTopic Proposal
rmw/rcl/rclcpp contribution.
minor feature extension.
bug fixeds such as memory leak.
__ Sony R&D Robotics System Architecture with ROS __
Distributed System
Fail independently
It appears to be a single system
__ Sony R&D Robotics System Architecture with ROS __
Background
Robotics Orchestration
Highly task, more collaborate
Factory, Logistics, Entertainment
Application Lifecycle
Fleet Management
Development
Frequently Update (No Down Time)
Easy, Quick and Efficient for Application Developer
Maintenance
Don’t want to get paged in the night.
Hardware Abstraction
Compatible / Consistent Platform for Application
__ Sony R&D Robotics System Architecture with ROS __
__ Sony R&D Robotics System Architecture with ROS __
Kubernetes Advantages
Deployment / Maintenance
Rollup / Rolldown (no down time)
Administration / Management
Scalability
Simplified Development
__ Sony R&D Robotics System Architecture with ROS __
__ Sony R&D Robotics System Architecture with ROS __
Device Abstraction
Dynamically load device into Kubernetes Cluster.
Devices will be controlled by custom resource.
__ Sony R&D Robotics System Architecture with ROS __
__ Sony R&D Robotics System Architecture with ROS __

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