Robot Operating System 2 (ROS2)-Based Frameworks for Increasing Robot Autonomy: A Survey

Abstract

Future challenges in manufacturing will require automation systems with robots that are increasingly autonomous, flexible, and hopefully equipped with learning capabilities. The flexibility of production processes can be increased by using a combination of a flexible human worker and intelligent automation systems. The adoption of middleware software such as ROS2, the second generation of the Robot Operating System, can enable robots, automation systems, and humans to work together on tasks that require greater autonomy and flexibility. This paper has a twofold objective. Firstly, it provides an extensive review of existing literature on the features and tools currently provided by ROS2 and its main fields of application, in order to highlight the enabling aspects for the implementation of modular architectures to increase autonomy in industrial operations. Secondly, it shows how this is currently potentially feasible in ROS2 by proposing a possible high-level and modular architecture to increase autonomy in industrial operations. A proof of concept is also provided, where the ROS2-based framework is used to enable a cobot equipped with an external depth camera to perform a flexible pick-and-place task.

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“…The latest version of ROS is Noetic, which is supported until 2025. ROS2 is the successor of ROS to address the limitations and introduce some new features to meet evolving requirements in the robotics field (Bonci et al., 2023). The advantage of ROS2 over its predecessor can be attributed to using data distribution service to enhance efficiency, reliability, latency, and scalability in building robotic systems (Kronauer et al., 2021).…”