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An Introduction to ROS-Industrial

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An Introduction to ROS-Industrial

  1. 1. ROS-Industrial Introduction Webinar Shaun Edwards January 11, 2013
  2. 2. Biography• Shaun Edwards• Senior Research Engineer in Manufacturing System Department at Southwest Research Institute (SwRI) (8 years)• Specialize in advanced industrial robotics and automation programs• Graduated with a MS-ME from Case Western Reserve University, Cleveland, Ohio.
  3. 3. Agenda• Overview of ROS• Overview of ROS – Industrial• ROS – Industrial Consortiums
  4. 4. ROS Overview
  5. 5. ROS Motivation Research Robotics• Reinvention of the Wheel• Little Commonality• Short Lifespan• Inability to Compare Results ROS Solves These
  6. 6. ROS: Robot Operating System ● Open source (BSD) ● Created by Willow Garage ● Maintained by Open Source Robotics Foundation (OSRF)
  7. 7. What Can ROS Do?http://www.youtube.com/watch?v=PGaXiLZD2KQ&list=UULlLhzlcustont9B3S0pjdg&index=2
  8. 8. = + + + Plumbing Tools Capabilities Ecosystem
  9. 9. Publish / Subscribe messaging Master (DNS-like) Publisher Subscriber /topic Publisher Subscriber• Powerful dynamic architecture that promotes reuse• Simplifies complex programming• More flexible than industrial robot controllers
  10. 10. = + + + Plumbing Tools Capabilities Ecosystem
  11. 11. Standard Dev. Tools• Standard Linux tools – Compilers, Debuggers, Loggers, IDEs• Multiple language support – C/C++, Java, Python, Lisp• Standard libraries • Boost, MySQL, XML (whatever you can imagine)• Modern GUI tools• Many tools missing from industrial development packages
  12. 12. ROS Tools plotting graph visualization diagnostics Simulation/visualiz ation
  13. 13. = + + + Plumbing Tools Capabilities Ecosystem
  14. 14. Capabilities• State of the art algorithms Mobility and Navigation• Rapid development from research community Perception• Broader Manipulation capabilities than current industrial MoveIt! solutions
  15. 15. = + + + Plumbing Tools Capabilities Ecosystem
  16. 16. User Community *ros.org visitor statistics (one month)
  17. 17. Statistics• ROS Core statistics by: 200+ Repositories https://www.ohloh.net/p/ROSorg• 11,146 commits• 43 contributors• 148,163 lines of code• Long source history 28 Officially Supported maintained by a large development Robots team with stable year-over-year commits• Estimated cost $2,063,327
  18. 18. Documentation/Support
  19. 19. Community• Openness encourages participation and collaboration• Many small, yet organized efforts result in more capable and reliable software• In industrial space, development communities are few and far between
  20. 20. ROS - Industrial
  21. 21. ROS-Industrial Motivation• Motivated by desire to solve industrial robotics and automations hard problems• Driven by actual application needs (i.e. real life problems without commercial solutions) – Fixtureless automation – Dynamic pick and place – Flexible automation (many small & diverse part runs) – Sensor driven automation• Reduction in integration cost by standardizing interfaces and enabling reuse
  22. 22. App: Automated Painting• Automated spray paint processes – Reduce emissions (regulation) – Reduce exposure (personnel) – Reduce cost (materials) – Increase quality (consistency)• Challenges – Unconstrained location – “Random” part order – Real time processing – Moving parts
  23. 23. Solution: Automated Painting• 3D Sensing (ROS/OpenNI)• 3D Processing (ROS/PCL)• Process-based path planning (SwRI)• Robot kinematic solvers (ROS/MoveIt!)• Robot workcell visualization (ROS/Rviz)• Distributed system (ROS/Core)• Data acquisition/playback (ROS/bag)
  24. 24. Motivation Summary Industrial Robotics• Limited development tools• Limited capabilities• No portability, flexibility• Slow technology adoption ROS-Industrial Solves These• Barriers to transition basic research• Barriers to independent developers
  25. 25. What is ROS-Industrial• Open-Source (BSD) Extension of ROS• Software Distribution• Providing Industrial Solutions – Interoperability w/ COTS Hardware – Industrial Applications – Extended Capabilities
  26. 26. Hardware Drivers • Robots – Motoman – Adept – Universal (new) – Fanuc (new) – ABB (new) – Kuka (Coming soon) – More to come…
  27. 27. Other Devices • Peripherals – Robotiq adaptive grippers • Networks – EtherCAT (Beckhoff Modules) – Serial – USB – Ethernet
  28. 28. More Capabilities
  29. 29. Leveraging ROShttp://www.youtube.com/watch?feature=player_embedded&v=_WG-45cZSUQ
  30. 30. More Videos• http://ros.org/wiki/Industrial/video
  31. 31. Future of ROS-Industrial• Stability, Reliability, Usability – Code analysis, testing, and statistics – Long term/Certified releases – More tutorials and documentation• Installed systems• Technology – More hardware support – Improved path planners – Physics based simulation – GUI based programming
  32. 32. Ways to Participate• Independently Contribute/Participate: – Define interface standards – Develop software – Documentation• OEMs – develop interfaces to your equipment• Integrators - Use it for projects and customers• Join the ROS-Industrial Consortium• There are a number of other ways as well…
  33. 33. Funders/Contributors
  34. 34. ROS-Industrial Consortiums
  35. 35. ROS-Industrial Consortiums• ROS-Industrial (Americas) lead by Southwest Research Institute• ROS-Industrial (Europe) lead by Fraunhofer IPA
  36. 36. ROS-Industrial Consortium (Americas)
  37. 37. Consortium Motivation• Provide a Voice for Industrial End Users• Accelerate Code Development – Advanced Capabilities – Code Quality Standards/Enforcement – Testing, Reliability, Robustness – Training – Maintenance• Build Community – Attract User-Generated Content – Maintain Open-Source Repository, Wiki, Roadmap – Ensure Code Reusability
  38. 38. How Will it Work?• Membership organization (commercial, government, academic)• Fees cover software maintenance, meetings, outreach• Collaborative research projects will be formed and funded by member sub-groups• Open source software: – All software developed under general funds – Project software at the discretion of the funding group• More info: http://consortium.rosindustrial.org
  39. 39. Conclusions• ROS has proven to be disruptive to robotics research• ROS offers capabilities, tools, and a community beyond current commercial options• ROS-Industrial is focused on addressing the needs of the industrial robotics and automation market• The ROS-Industrial community is growing• The ROS-Industrial Consortium will provide a voice to its members to identify needs and set priorities for the project
  40. 40. Come See Us at Automate!• ROS-INDUSTRIAL LIVE!• MCCORMICK PLACE, CHICAGO, ILLINOIS USA JANUARY 21-24, 2013• AUTOMATE 2013• SOUTHWEST RESEARCH INSTITUTE• Booth #314• Product / Service Categories – R&D and Engineering Services – System Integration – Vision and Perception Systems – Custom Solutions
  41. 41. Questions?Clay Flannigan Shaun Edwards210-522-6805 210-522-3277clay.flannigan@swri.org shaun.edwards@swri.org Main site: rosindustrial.org Software site: code.rosindustrial.org Docs site: wiki.rosindustrial.org Consortium site: consortium.rosindustrial.org

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