2. Agenda
What is ROS (Robot Operating System)?
FIWARE and ROS: Current Status
Future Technology: Micro-ROS (OFERA EU Project)
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3. ROS2: Robotics de facto Standard
The Robot Operating System (ROS) is a set of software libraries and tools that help
you build robot applications. From drivers to state-of-the-art algorithms, and with
powerful developer tools, ROS has what you need for your next robotics project. And
it's all open source. ROS has become a de facto standard for Robotic applications.
OSRF Sponsors: Bosh, DARPA, google, MathWorks, Nasa, Nissan, Qualcomm,
rethink robotics, ROS-Industrial Consortium, Sandia National Laboratories, SICK,
Willow Garage, Yujin Robot
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4. FIWARE & ROS: Current Status
ROS2 uses FIWARE Fast RTPS GE as its default middleware
• Major success for FIWARE
FIROS2 GE bridges between ROS2 and Orion Context Broker
• New GE
• Available in Github: https://github.com/eProsima/FIROS2
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5. OFERA: Open Framework for
Embedded Robot Applications
FIWARE Summit 2018
Jaime Martin Losa
micro-ROS Coordinator
JaimeMartin@eProsima.co
m
+34 607 91 37 45
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6. Ambition
Microcontrollers (MCUs) are great for
sensing and actuation
Robots today are networks of MCUs and larger
processors
However, their OS’s and tools are very
diverse
We’d like to use ROS, but it does not fit.
MCUs have
• Much less memory
• A simple RTOS instead of Linux
• Are often battery powered
• Communicate through serial and/or
constrained networks
(e.g. LoWPAN) 5
OFERA will extend ROS2
to allow its use in
microcontrollers,
creating a new
framework: micro-ROS
7. OFERA
OFERA (micro-ROS) is a common project from
• eProsima (Coordinator)
• Bosch
• Acutronic Robotics
• FIWARE Foundation
• PIAP
□ Industrial Research Institute for Automation and Measurements (Poland)
It will extend ROS2 to allow its use in microcontrollers.
Funded by EU,
• Letter of support: OSRF, ROS-I, FIWARE, Mobile Industrial Robots, Deepfield
Robotics and Bosch powertools
Starting Jan,2018
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11. Hardware and Firmware
micro-ROS will select a reference platform to test and run the framework:
• OS: NuttX
• Hardware (Tentative):
□ STM32L1: Low profile microcontroller
□ STM32F4: Medium performance microcontrollers
□ ARM Cortex-R: For certified apps.
• Ethernet, Serial, and 6LowPan
Creation of a reference Hardware Bridge between micro-ROS and ROS2
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12. Comms and interoperability
Based on micro-XRCE DDS, an open source
implementation of XRCE DDS.
new micro-XRCE DDS features:
• Including Peer to Peer comms for selected cases.
• Security integrated with DDS/ROS2 security.
Interoperability
• ROS1, ROS2, FIWARE
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13. Enhanced API
Predictable scheduling and executing
• Based on the concept of executors introduced in ROS 2, we will introduce a core
library for predictable scheduling and executing, allowing finegrained control of
the mapping of callbacks to tasks of the RTOS.
Lifecycle and system modes
• Starting from the node lifecycle concept proposed for ROS 2, we will design and
implement advanced mechanisms for the runtime management of single
application components, subsystems of multiple components and the overall
system.
Embedded transform (TF) library
• a highly efficient transform library shall be developed, that integrates microROS
components into the ROS TF tree in an efficient way
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14. Full Benchmarking and Test bed
Multiple measures:
• Latency, throughput, CPU use, memory…
Reference platform benchmarking:
• Hardware + OS
micro-ROS Framework benchmarking
User benchmarking tools
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16. Communication, Dissemination, Collaboration, Standardization
and Exploitation
Open Source Framework
Big User adoption
FIWARE Robotics.
OMG standardization
ROS & ROS-I Community collaboration
EU Projects Collaboration:
• ROSIN, RobMoSys
Contributing to the faster growth of competitive small and mid-scale robotics
companies in Europe.
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