Integrated virtual commissioning of a ROS2-based collaborative and intelligent automation system

Erős, Endre; Dahl, Martin; Hanna, Atieh; Albo, Anton; Falkman, Petter; Bengtsson, Kristofer

doi:10.1109/etfa.2019.8869444

Cited by 20 publications

(11 citation statements)

References 19 publications

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“…ROS 2 is still in an early phase of development and far behind ROS 1 in terms of the number of packages and active developers. The literature on ROS 2 communication system is limited: an early evaluation of the ROS 2 communication mechanism [25], [26] and preliminary industrial use cases [27], [28].…”

Section: Related Workmentioning

confidence: 99%

CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments

Ginting

Otsu

Edlund

et al. 2021

IEEE Robot. Autom. Lett.

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A well-structured and reliable networking is key to the successful operations of autonomous multi-robot systems. In this paper, we present our design and implementation of a multi-robot networking architecture CHORD (Collaborative High-bandwidth Operations with Radio Droppables) based on two popular robotics middleware, ROS 1 and ROS 2. We discuss the benefit and best practices of combining two different frameworks that share the same spirit and show its performance from large-scale real-world experiments. The proposed system is developed as part of Team CoSTAR's effort for the DARPA Subterranean (SubT) Challenge. 2 The system has been fieldproved and demonstrated in the Urban Circuit event, where team CoSTAR won first place. To our knowledge, this work is the first real-world demonstration of a ROS 2-based multi-robot system in such large-scale extreme environments. From the significant improvement of the communication performance and the ease of transition from existing ROS 1 systems, this work encourages wider adoption of ROS 2 in field robotics applications.

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Section: Related Workmentioning

confidence: 99%

CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments

Ginting

Otsu

Edlund

et al. 2021

IEEE Robot. Autom. Lett.

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“…5, there are three types of networks related with the ROS, i.e., single master ROS network [78], multi-master ROS network [79] and ROS2 network [26]. In some applications, different ROS networks are deployed in combination [80]. A ROS master provides naming and registration services to the rest of the nodes in the ROS.…”

Section: Networkmentioning

confidence: 99%

A Review on Communication Protocols for Autonomous Unmanned Aerial Vehicles for Inspection Application

Shi,

Marcano,

Jacobsen

2021

Preprint

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The communication system is a critical part of the system design for the autonomous Unmanned Aerial Vehicle (UAV). It has to address different considerations, including efficiency, reliability and mobility of the UAV. In addition, a multi-UAV system requires a communication system to assist information sharing, task allocation and collaboration in a team of UAVs. In this paper, we review communication solutions for supporting a team of UAVs while considering an application in the power line inspection industry. We provide a review of candidate wireless communication technologies for supporting communication in UAV applications. Performance measurements and UAV-related channel modeling of those candidate technologies are reviewed. A discussion of current technologies for building UAV mesh networks is presented. We then analyze the structure, interface and performance of robotic communication middleware, ROS and ROS2. Based on our review, the features and dependencies of candidate solutions in each layer of the communication system are presented.

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“…To use the abilities in formal planning algorithms and to support testing of the SP model without being connected to the real subsystem, measured variables must be updated by someone. We have chosen to place this updating as individual emulation nodes [28] rather than to let SP perform it internally. This allows us to always maintain the structure of the network which allows an easy transition to simulated or actual nodes at any time, while at the same time keeping the core execution engine uncluttered.…”

Section: Auto Generated Code For Resourcementioning

confidence: 99%

Development of an Industry 4.0 Demonstrator Using Sequence Planner and ROS2

Erős

Dahl

Hanna

et al. 2020

Studies in Computational Intelligence

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In many modern automation solutions, manual off-line programming is being replaced by online algorithms that dynamically perform tasks based on the state of the environment. Complexities of such systems are pushed even further with collaboration among robots and humans, where intelligent machines and learning algorithms are replacing more traditional automation solutions. This chapter describes the development of an industrial demonstrator using a control infrastructure called Sequence Planner (SP), and presents some lessons learned during development. SP is based on ROS2 and it is designed to aid in handling the increased complexity of these new systems using formal models and online planning algorithms to coordinate the actions of robots and other devices. During development, SP can auto generate ROS nodes and message types as well as support continuous validation and testing. SP is also designed with the aim to handle traditional challenges of automation software development such as safety, reliability and efficiency. In this chapter, it is argued that ROS2 together with SP could be an enabler of intelligent automation for the next industrial revolution.

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Integrated virtual commissioning of a ROS2-based collaborative and intelligent automation system

Cited by 20 publications

References 19 publications

CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments

CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments

A Review on Communication Protocols for Autonomous Unmanned Aerial Vehicles for Inspection Application

Development of an Industry 4.0 Demonstrator Using Sequence Planner and ROS2

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