TIER IV ACADEMY

version 1.3

Day2ROS

ROSROS 2.0

ROSROS 2.0

ROS catkin ROS

ROS ROS2.0 ROS TF ROS RViz

l ROS ROS

l ROS ROS2.0 ROS ROS ROS

ROS2 ROS2 ROS2DDS

2

ROSROS 2.0 3

ROSRobot Operating Systems 1. ROS 2.

ROS 2.0 1. 2. DDS 3.

ROSRobot Operating Systems

ROSROS 2.0

4

1. ROS

ROS

ROSROS 2.0 5

ROS (Robot Operating System) : ...etc

n

n

n

n C++, Python

n OSRF

n OSLinux

ROS (1/2)

ROSROS 2.0 6

3D map

ITS (Intelligent Transport Systems)

+ Internet

International cooperation

Laws

DetectionSensing

Planning Operation

Localization

1 2 3 4

Interface

ROS (2/2)

ROSROS 2.0 7

Localization Detection Planning

R O SOS

Sensing

Linux (Ubuntu14.04)

CPU (multi/many) LIDARCamera

GNSS (GPS)

GPU

ROSRobot Operating Systems

ROSROS 2.0

8

1.

ROS

ROSROS 2.0 9

ROS (Robot Operating System) :

Publish / Subscribe l l

2

1 3

Subscribe

Publish Subscribe

10

Publish / Subscribe

, ,

11

ROSROS 2.0

Publish / Subscribe

, ,

12

NEW !

ROSROS 2.0

Publish / Subscribe

, ,

ROS

ROSROS 2.0 13

()

User Code

R O S

Hardware

TCP/UDP or

ROS

ROSROS 2.0 14

( )

User Code

RO S

Hardware

GUIROS

GazeboD

l rosbag

l

RViz3D

ROS

ROSROS 2.0 15

()

User Code

R O S

Hardware

TCP/UDP or

ROS

ROSROS 2.0 16

()

User Code

R O S

Hardware

( )

User Code

RO S

Hardware

2,000

ROS

17

Camera.cpp

ImagesCamera Image Proccessing

: Camera : ImageProccessing

:

Image.msg --------------------

Header header uint32 height uint32 width

string encoding uint8[] data

ImageProcessing.cpp Detection.h

ROSROS 2.0

ROS 2.0

ROSROS 2.0

18

1.

ROS2

ROSROS 2.0 19

(2007.11-)

ROS2

ROSROS 2.0 20

(2007.11-)

ROSalpha

ROSROS 2.0 21

l - Publish / Subscribe - QoS Quality of Service-

l - (, , , etc.)- /

DDS (Data Distribution Service) : Publish / Subscribe

[RTI Connext]

ROS2

ROS 2.0

ROSROS 2.0

22

2. DDS

ROS2DDS/

23 ROSROS 2.0

ROS2DDS/QoS

ROSROS 2.0 24

sGlobal Data Space

Publisher

Participant

QoS

Participant

QoS

Subscriber

data1

data2

data3

data4

DEADLINE period

HISTORY

RELIABIRITY

data1data2data3data4

Topic

Data Writer

Data Reader

ROS2DDS/QoS

ROSROS 2.0 25

sGlobal Data Space

Publisher

Participant

QoS

Participant

QoS

Subscriber

data1

data2

data3

data4

DEADLINE period

HISTORY

RELIABIRITY

data1data2data3data4

Topic

ALL () or LAST ()

Data Writer

Data Reader

RELIABLE or BEST_EFFORT

ROS2DDS/QoS

ROSROS 2.0 26

QoS Policy QoS Policy

Vola

tility

DURABILITY USER DATAU

ser QoSDURABILITY_SERVICE TOPIS FILTER

HISTORY GROUP DATA

READER DATA LIFECYCLE PARTITION

Presentation

WRITER DATA LIFECYCLE PRESENTATION

LIFESPAN DENTINATION ORDER

Infr

astr

uctu

re

ENTITY FACTORY OWNERSHIP Redundancy

RESOURCE LIMITS OWNERSHIP STRENGTH

Del

iver

y RELIABIRITY LIVELINESS

TIME BASED FILTER LATENCY BUDGET

TransportDEADLINE TRANSPORT PRIORITY

[Data Distribution Service (DDS) Version 1.4 April, 2015] ROS2

ROS2DDS/Vendor

ROSROS 2.0 27

RTI (Real-Time Innovation)

ConnextCommercial

Research

PrismTech OpenSpliceCommercial

LGPL (v6.4) -

eProsima FastRTPS Apache 2 -

OSRF (Open Source

Robotics Foundation)

FreeRTPS Apache 2 -

RTI (Real-Time Innovation)

ConnextCommercial

Research

PrismTech OpenSpliceCommercial

LGPL (v6.4) -

eProsima FastRTPS Apache 2 -

OSRF (Open Source

Robotics Foundation)

FreeRTPS Apache 2 -

ROS2DDS/Vendor

ROSROS 2.0 28

DDS

ROS2DDS/Vendor

ROSROS 2.0 29

RTI (Real-Time Innovation)

ConnextCommercial

Research

PrismTech OpenSpliceCommercial

LGPL (v6.4) -

eProsima FastRTPS LGPL -

OSRF (Open Source

Robotics Foundation)

FreeRTPS Apache 2 -

DDS

No.1 J ROS2

Secure, Micro

ROS2DDS/Vendor

ROSROS 2.0 30

RTI (Real-Time Innovation)

ConnextCommercial

Research

PrismTech OpenSpliceCommercial

LGPL (v6.4) -

eProsima FastRTPS LGPL -

OSRF (Open Source

Robotics Foundation)

FreeRTPS Apache 2 -

DDS

No.2 L v6.4

ROS2DDS/Vendor

ROSROS 2.0 31

RTI (Real-Time Innovation)

ConnextCommercial

Research

PrismTech OpenSpliceCommercial

LGPL (v6.4) -

eProsima FastRTPS Apache 2 -

OSRF (Open Source

Robotics Foundation)

FreeRTPS Apache 2 -

DDS

ROS2DDS

GitHub

ROS2DDS/Vendor

ROSROS 2.0 32

RTI (Real-Time Innovation)

ConnextCommercial

Research

PrismTech OpenSpliceCommercial

LGPL (v6.4) -

eProsima FastRTPS LGPL -

OSRF (Open Source

Robotics Foundation)

FreeRTPS Apache 2 -

DDS

, ,

GitHub

ROS 2.0

ROSROS 2.0

33

3.

ROSROS 2.0 34

DDS

DDS

Linux/Windows/Mac/RTOS/No OS

Linux

TCPROS / UDPROS

OS

ROS1

ROS2

ROS ROS

ROS2

ROSROS 2.0 35

rmw (ROS Middleware Interface)

rcl (ROS Client Library)

rosidl (ROS Interface Description Language)

C++ Python

DDS

ROS2 API DDS API

+ QoS

.msg .idl

Connext FastRTPS OpenSplice or or

or

C++, python

DDS

DDS

ROS2

ROSROS 2.0 36

C + QoS

FreeRTPS

CQoS

RTPS

ROS2

ROSROS 2.0 37

ROS1 ROS1

TCP/UDP

ROS1 ROS1

ROS2 ROS2

DDS

ROS2 ROS2

TCP/UDP, DDS

nodelet

inter-process intra-process

R O S 2

R O S 1

ROS2

ROSROS 2.0 38

ROS1 ROS1

TCP/UDP

ROS1 ROS1

ROS2 ROS2

DDS

ROS2 ROS2

TCP/UDP, DDS

nodelet

inter-process intra-process R O S 2

R O S 1

ROS1 ROS2

ros1_bridge

ROS2

ROSROS 2.0 39

In Progress Future Work

ARM A-class, SFF x86 etc 32-bit MCU 8/16-bit MCU

RAM 1-16GB 4-256KB 1-32KB

OSWindows, OS X,

Linux (Ubuntu14.04, 16.04)

no OS, RTOS (Xenomai, PREEMPT RT)

l l QoS l TLSF (Two Level Segregate Fit) allocatorl RTOSl intra-process

l l FreeRTPSROS2 DDSl C

ROSROS 2.0

40

ROSROS 2.0 41

ROS (Robot Operating System) Publish / Subscribe

ROSDDS Data Distribution ServiceQoSQuality of Service

www.tier4.jp

42

Appendix

ROSROS 2.0

43

n OSRF/ROS.org - [http://wiki.ros.org/], [http://wiki.ros.org/ja]

n OSRF/ROS2 wiki [https://github.com/ros2/ros2/wiki]

n OSRF/ROS2 Design - [http://design.ros2.org/]

n OSRF/FreeRTPS - [https://github.com/ros2/freertps]

n ROSCon2015 - [http://roscon.ros.org/2015/]

n ROSCon2016 - [http://roscon.ros.org/2016/]

n RTI/Connext - [http://www.rti.com/]

n PrismTech/OpenSplice DDS Community Edition - [http://www.prismtech.com/dds-community]

n ePrisima/FastRTPS - [http://www.eprosima.com/], [https://github.com/eProsima/Fast-RTPS]

44

ROSROS 2.0