ROSCON Fr: is ROS 2 ready for production?
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- The document discusses ROS 2 features including new Quality of Service settings, code quality improvements, security features, and performance testing tools. - ROS 2 D introduces new QoS policies including deadline, lifespan, and liveliness to allow finer-grained control over ROS communication. - Code quality has improved with fixes to memory leaks and data races. Security testing and secure communication capabilities are also discussed.
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ROSCON Fr: is ROS 2 ready for production?
- 1. Thomas Moulard tmoulard@amazon.com AWS RoboMaker, ROS 2 Security WG Lead Is ROS 2 ready for production? A look at ROS 2 robustness, security and performance. 2019-06-12
- 2. What we will cover • AWS RoboMaker overview & architecture • ROS 2 D New Features andTools • New Quality of Service settings • Code Quality Improvements • Security • Performance
- 3. Robotic Arms International Space Station Drones Education Water Home Self-Driving Vehicles Autonomous Walker Rover Robot landscape
- 5. Robotic development is difficult and time consuming Hundreds of hours spent building components Many prototyping iterations Days spent setting up and configuring Months to building a realistic simulation environment Duplicated efforts integrating an application management system
- 6. AWS RoboMaker capabilities Development Environment SimulationCloud Extensions for ROS Fleet Management
- 7. What’s new in ROS 2 D?
- 8. ROS 2 Quality of Service • Quality of Service settings allow fine-grained control over ROS 2 communication behavior. Each topic may have different settings. • Available policies are: • History • Depth • Reliability • Durability • Deadline (new in D!) • Lifespan (new in D!) • Liveliness (new in D!)
- 9. New in D: Quality of Service / Deadline Send msg1Node 1 Receive msg1Node 2 msg1 Deadline Success! Message is received before deadline. Send msg2Node 1 Receive msg2Node 2 msg2 Deadline Failure! Message has not been received on time.
- 10. New in D: Quality of Service / Lifespan Send msg1Node 1 Receive msg1Node 2 msg1 Lifespan Success! Message delivered before expiry date Send msg2Node 1 Drop msg2Node 2 msg2 Lifespan Failure! Message delivered after expiry date
- 11. New in D: Quality of Service / Liveliness HeartbeatNode Node is considered alive Node is not considered alive Heartbeat Heartbeat Heartbeat HeartbeatNode Heartbeat
- 12. New in D: Quality of Service / Try it yourself! bit.ly/ros2-qos-demo
- 13. ROS 2 Code Quality Improvements In ROS 2 D, we solved: • 4 memory leaks impacting production • 17 memory leaks impacting tests • 2 data races impacting Fast RTPS Fixed 89% of ASan detected defects. Nightly run of GCC sanitizers (ASan/TSan) to detect: • Lock Order Inversion (deadlocks) • Data Races • Unsafe Signal Handling • Invalid Memory Access • Memory Leaks More information: bit.ly/ros2-sanitizer
- 15. ROS 2 Security • ROS 1/2 footprinting Aztarna by Alias robotics bit.ly/aztarna • ROS 2 SecurityTesting Framework (WIP) bit.ly/ros2-sectest • SROS 2 enables secure (signed or encrypted) communication over DDS. • Access Control can also be enabled. • Built on top of the DDS Security Extension. • Necessary to avoid data interception when communicating over an insecure network link (Ethernet). • For each node, a private key and a certificate is generated. More information: bit.ly/sros2-demo Join the ROS 2 Security Working group! Bi-weekly meetings to discuss ROS 2 security improvements. Meetings are announced on OSRF Discourse website.
- 16. iRobot BenchmarkingTools montreal lyon hamburg osaka mandalay ponce barcelona geneva georgetown arequipa ROS 2 Crystal Performance on a Raspberry Pi 3. More information: bit.ly/irobot-ros2-perf
- 17. Is ROS 2 Production Ready? With the release of the first LTS ROS 2 release, ROS 2 ecosystem is maturing quickly! • Middleware improvements • QoS features (deadline, lifespan, liveliness) • Code Quality • Nightly runs to detect memory and concurrency bugs early • Security • Secure communication using SROS 2 • Additional security tooling in development by Alias Robotics and AWS • Performance • iRobot Performance Tools