FIWARE Robotics: ROS2 & micro-ROS, Integration with the FIWARE Platform.

1. FIWARE Robotics: ROS2 & micro-ROS
FIWARE Summit 2018
Jaime Martin Losa
micro-ROS Coordinator
JaimeMartin@eProsima.co
m
+34 607 91 37 45
0

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
4

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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8. OFERA
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9. micro-ROS Architecture
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Micro XRCE DDS
Agent

10. Approach
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Microcontroller platform
RTOS
Additional
device drivers
scheduler
extensions
RTOS abstractions
Middleware (micro XRCE DDS)
micro-ROS middleware interface
ROS
Interop
FIWARE
Interop.
Benchmarking
micro-ROS client library
Predictable
scheduling
and
execution
Lifecycle and
system
modes
Embedded
transform
library
App App …

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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15. Use Cases
 1.- Drones (eProsima):
• PX4 Autopilot Example
 2.- micro-ROS sensors (Acutronic Robotics)
• Hardware Robot Operating System (H-ROS)
 3.- Domestic outdoor robots (Bosch)
• Robotic lawnmower
 4.- Smart warehouse (PIAP)
• PIAP SCOUT robot
 FIWARE Integration of 1-4
• Orion Context Broker
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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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17. Questions?
Jaime Martin Losa
CTO eProsima
JaimeMartin@eProsima.co
m
+34 607 91 37 45

18. Thank you!
http://fiware.org
Follow @FIWARE on Twitter
Jaime Martin Losa
CTO eProsima
JaimeMartin@eProsima.co
m
+34 607 91 37 45