Hypha ROS X 星火計畫 ROS 2.0 Introduction [haochih, English ver]

Website: https://hypharosworkshop.wordpress.com/contact/
FB Page: https://www.facebook.com/HyphaROS/
Email: hypha.ros@gmail.com
HyphaROS X 星火計畫
ROS 2.0 Introduction
Presenter : HaoChih, LIN
林浩鋕

https://hypharosworkshop.wordpress.com/
Copyright © 2017 Hypha ROS Workshop. All rights reserved Lecturer: HaoChih, LIN
●About us
●Why ROS 2.0
●OpenSplice DDS
●ROS 2.0 Architecture Overview
●ROS 2.0 Applications
●DDSBot Demo (Simulation)
●Q & A

About us
● Introduction
○ Website: https://hypharosworkshop.wordpress.com/
○ Github: https://github.com/Hypha-ROS/hypha-racecar
○ Facebook: https://www.facebook.com/HyphaROS/
○ Youtube: https://www.youtube.com/watch?v=jgS6gpmWPoY
○ Youku: http://i.youku.com/hypha

About us
● Introduction
○ Established date: April-2017
○ Self-organized Workshop: 3
○ Speech & Training: 8
○ Technical supports: > 10 universities/labs & > 5 companies
○ HyphaROS RaceCar ver 1.0 has been sold 30 units
○ HyphaROS RaceCar ver 2.0 released (for both indoor & outdoor scenario)
4

About us
● Introduction
○ Lecturer in “ROS Summer School in China 2017”
○ Presenter in “2017 WRC ROS Forum”
○ Main organizer of ROS.Taipei 2018 Developers Event
○ Product & Service [ROS]: Workshop, Technical Consultant, AGVs, Home robots, etc..

About us
ROS.Taipei 2018 開發者年會
Official Website: https://ros-taipei.wixsite.com/2018
FB Page: https://www.facebook.com/groups/ros.taipei/

About myself
HyphaROS Workshop FounderROS Technical Consultant

Why ROS 2.0

Known Issue of ROS 1.0
• Realtime performance
• Node management
• Master (roscore)
• Multi-robots capability (Swarm)
• Small processors
• Communication Priority
• Communication Security
• Unreliable network connectivity
Source: http://blog.ascens-ist.eu/wp-content/uploads/2011/03/13marxbots.jpg
Why ROS 2.0

Why ROS 2.0
● [ROS 1.0 Review] Establishing a topic connection
○ Subscriber starts.
○ Publisher starts.
○ Subscriber registers with the Master. (XMLRPC)
○ Publisher registers with the Master. (XMLRPC)
○ Master informs Subscriber of new Publisher. (XMLRPC)
○ Subscriber contacts Publisher to request a topic
connection and negotiate the transport protocol. (XMLRPC)
○ Publisher sends Subscriber the settings
for the selected transport protocol. (XMLRPC)
○ Subscriber connects to Publisher using
the selected transport protocol. (TCPROS, etc...)
figure source: http://wiki.ros.org/ROS/Technical%20Overview

Why ROS 2.0
● [ROS 1.0 Review]

The Goals
of ROS 2
Source: https://roscon.ros.org/2014/wp-content/uploads/2014/07/ROSCON-2014-Next-Generation-of-ROS-on-top-of-DDS.pdf
Why ROS 2.0

Source: https://roscon.ros.org/2014/wp-content/uploads/2014/07/ROSCON-2014-Next-Generation-of-ROS-on-top-of-DDS.pdf
=
less time
spent here
more time to spent here
Why ROS 2.0

Source: https://roscon.ros.org/2017/presentations/ROSCon%202017%20ROS2%20Vision.pdf
Why ROS 2.0

Alpha 1
31 Aug 2015
Beta 1
31 Aug
2015
Beta 2
31 Aug
2015
Beta 3
13 Sep
2017
Ver. 1
8 Dec 2017
Ardent Apalone
Why ROS 2.0

OpenSplice DDS

OpenSplice DDS
DATA DISTRIBUTION SERVICE SPECIFICATION VERSION 1.0
December 2004
Source: http://www.omg.org/spec/DDS/1.0

OpenSplice DDS
Source: DDS Tutorial PrismTech CTO, Angelo Corsaro 2015 june

OpenSplice DDS
● DDS provides a Distributed Data Space
abstracton where applicatons can
autonomously and asynchronously
read and write data enjoying spatal
and temporal decoupling
● Its built-in dynamic discovery isolates
applicatons from network to pology
and connectvity details
● DDS’ Data Space is completely
decentralised

OpenSplice DDS
Source: https://community.rti.com/static/documentation/connext-dds

Data Type: StockPrice
struct StockPrice
{
float price;
Time timeStamp;
char *symbol; //@key
};
Instance 1 = (Topic: “StockPrices”) + (Key: “MSFT”)
sample a, price = $28.00
sample b, price = $27.88
Instance 2 = (Topic: “StockPrices”) + (Key: “IBM”)
sample a, price = $74.02
sample b, price = $73.50
OpenSplice DDS
Source: https://community.rti.com/static/documentation/connext-dds

OpenSplice DDS
Source: http://www.prismtech.com/news/prismtech-moves-market-leading-proven-dds-solution-open-source-eclipse-cyclone

ROS 2.0 Architecture Overview

User Code
ROS Client Lib
rclpy rclcpp Third Party
ROS Middleware
OpenSplice
RMW Impl.
FastRTPS
RMW Impl.
Third Party
RMW Impl.
PrismTech
OpenSplice
eProsima
FastRTPS
Third Party
DDS
User
Applications
Client
Wrapper
Middleware
DDS
DDS
agnostic
ROS
agnostic

Source: http://design.ros2.org/

●
register the DDS TypeCode with the DDS Participant
●
create a DDS Publisher, DDS Topic and DDS DataWriter
●
convert data from a ROS message into a DDS DynamicData instance
●
write the DDS DynamicData to the DDS DataWriter
Include “rclcpp/rclcpp.hpp”
rclcpp::Publisher ==> SharedPtr
create_publisher()
rclcpp/rclcpp/include/rclcpp/node_impl.hpp
rclcpp/rclcpp/include/rclcpp/create_publisher.hpp
rmw_create_publisher()
rcl/rcl/src/rcl/publisher.c
rmw/rmw/include/rmw/rmw.h
rmw_opensplice/rmw_opensplice_cpp/src/rmw_publisher.cpp

~/.bashrc setting
(opensplice)
$ RCL_ASSERT_RMW_ID_MATCHES=rmw_opensplice_cpp
ros2 run demo_nodes_cpp listener

Pure DDS vs. ROS 2.0
DDS: create Publisher &
DataWriter (~80 lines)
ROS 2.0 for pub & sub
(< 10 lines) Source: OpenSplice DDS C Tutorial

[How to learn ROS 2.0]
●
ROS 2.0 Design:
http://design.ros2.org/
●
ROS 2.0 Wiki (Github):
https://github.com/ros2/ros2/wiki
●
ROS Discourse – Next Generation ROS:
https://discourse.ros.org/c/ng-ros
●
ADLINK-IST OpenSplice Online Doc:
http://download.prismtech.com/docs/Vortex/html/ospl/GettingStartedGu
ide/index.html
●
RTI Connext Online Doc:
https://community.rti.com/documentation

ROS 2.0 Applications

DDSBot Demo

Q & A
Website: https://hypharosworkshop.wordpress.com/
Github: https://github.com/Hypha-ROS/hypha-racecar
FB Page: https://www.facebook.com/HyphaROS/
Youku: http://i.youku.com/hypha
Gmail: hypha.ros@gmail.com
WeChat (ID): HyphaROS

Hypha ROS X 星火計畫 ROS 2.0 Introduction [haochih, English ver]

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