FIWARE Wednesday Webinars - The Use of DDS Middleware in Robotics (Part 2)
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The document presents an overview of micro XRCE-DDS and micro-ROS, which are libraries developed to integrate DDS and ROS into microcontrollers, enabling IoT and time-critical applications. It highlights the architecture and features of both systems, including client-server interactions, supported platforms, and their applications in embedded systems. Additionally, it discusses the protocols designed for resource-constrained devices, emphasizing their role in enabling real-time communication and robotics solutions.
FIWARE Wednesday Webinars - The Use of DDS Middleware in Robotics (Part 2)
- 1. Micro XRCE-DDS & micro-ROS Bringing DDS and ROS into microcontrollers Francesca Finocchiaro eProsima - Team manager francescafinocchiaro@eprosima.com www.eprosima.com FIWARE FOUNDATION Webinar 17/06/2020
- 2. About Francesca Finocchiaro Team manager of the micro-ROS project within eProsima Micro XRCE-DDS Open source library, developed at eProsima micro-ROS Open source library, developed as part of a UE-funded project
- 3. Presentation Overview ● Need for a new paradigm ● Micro XRCE-DDS ○ DDS-XRCE protocol ○ Intro to Micro XRCE-DDS ○ Supported Operating Systems ○ Client library ○ Agent library ○ Client-Agent interaction ○ Demo example ● micro-ROS ○ Micro XRCE-DDS ○ Architecture overview: Comparison with ROS 2 ○ Supported platforms ○ Use-case
- 4. The need for a new paradigm ● Why bringing DDS and ROS to microcontrollers? ○ IoT and time-critical applications ○ Direct interface with sensors and actuators ○ Cut-down production costs ● Micro XRCE-DDS and micro-ROS: brand new protocols ○ Designed to be integrated into the DDS and ROS worlds ○ Tailored to fit into embedded systems ○ Platform-adaptable ● Resource-constrained devices: ○ Small storage capacity ○ Small RAM ○ Limited processing resources
- 5. The DDS-XRCE wire protocol DDS-XRCE: DDS for eXtremely Resource-Constrained Environment. Clients - XRCE entities on low-resource consumption devices. Agent - XRCE entity connected with DDS global data space. Acts on behalf of Clients in the DDS world. Main features: ● Client-server architecture ● Request-response pattern ● Connection oriented
- 6. Micro XRCE-DDS: an introduction Main components: ● Micro XRCE-DDS Agent ● Micro XRCE-DDS Client Additional components: ● Generator tool ● Serialization library eProsima Micro XRCE-DDS: First implementation of DDS-XRCE protocol.
- 7. Micro XRCE-DDS: an introduction Main components: ● Micro XRCE-DDS Agent ● Micro XRCE-DDS Client Additional components: ● Generator tool ● Serialization library eProsima Micro XRCE-DDS: First implementation of DDS-XRCE protocol.
- 8. Supported OSes and RTOSes RTOS: Real Time Operating System Main Features: ● Works with an advanced algorithm for scheduling tasks within maximum time limit. ● Apt for Real-Time applications ● POSIX-compliant interface NuttX FreeRTOS Linux Windows Zephyr
- 9. Micro XRCE-DDS Client Micro XRCE-DDS Client: C99 library. Features: ● UDP, TCP, and Serial transport support ● Micro XRCE-DDS as a wire protocol ● Full static memory ● Configurable profiles ● Streams: best effort & reliable ● DDS entities can be created by: XML, reference or binary profiles
- 10. Micro XRCE-DDS Agent Micro XRCE-DDS Agent: C++11 application & library. Features: ● UDP, TCP, and Serial transport support ● Fast DDS as DDS wire protocol ● Creates Client proxy as DDS actor ● Configurable ● Streams: best effort & reliable
- 11. Client-Agent communication Communication flow: ● Client connects to agent (upon previous knowledge or discovery) ● Session creation (Client proxy instantiation) ● DDS Participant creation ● Other DDS Entities creation
- 12. ToF Sensor + Shapes Demo Hardware and Software employed: ● STM32L4 Discovery kit IoT with integrated ToF sensor ● XRCE Client client running on Zephyr RTOS ● XRCE Agent and DDS ShapesDemo app running on Linux ● Serial transport Steps: 1. Open ShapesDemo app (DDS World) 2. Create Subscriber in ShapesDemo 3. Run Agent in Linux 4. Publish sensor data with Client 5. Receive data on ShapesDemo app
- 13. From Micro XRCE-DDS to micro-ROS In a nutshell ROS2 : Fast DDS = micro-ROS : Micro XRCE-DDS ● ROS2 - Robot Operating System 2. Layered architecture allowing to build complex Robotics applications. ● Fast DDS - Default Middleware for ROS2 ● micro-ROS - Brings ROS2 to microcontrollers. Layered architecture like ROS2 ● Micro XRCE-DDS - Default Middleware for micro-ROS
- 14. micro-ROS: an introduction micro-ROS brings ROS 2 to microcontrollers Software solution for creating ROS 2 nodes into embedded devices, such as microcontrollers (MCUs). Main Features: ● Layer-compatible with ROS 2 ● Allows to create a ROS 2 node with all functionalities ● Middleware transports fully customizable ● Client-agent logics ● Runs on different RTOSes and MCUs ● Platform-versatile cross-compilation tools
- 15. Architecture: micro-ROS vs ROS2 Status: micro-ROS supports Dashing. Currently working to port it to Foxy
- 16. micro-ROS target platforms Target: mid-range microcontrollers. Currently supported: STM32 microcontroller unit, e. g. STM32F407 or STM32L475E. Typical features: ● ~ 200 KB of RAM memory ● < 500 mA consumption ● General purpose input/output pins (GPIO) ● Communication peripherals: USB, Ethernet, SPI, UART, I2C, CAN, etc Olimex LTD STM32-E407 (STM32F407) STM32L4 Discovery kit IoT (STM32L4) Crazyflie 2.1 drone (STM32F405) Supported boards
- 17. micro-ROS use-case: robotic arm Hardware and Software employed: ● ROS 2-enabled robotic arm (Robotis OpenMANIPULATOR-X) ● ST VL53l1X ToF sensor operated by Olimex STM32-E407 ● micro-ROS client app running on Zephyr RTOS ● Raspberry Pi 4 running: micro-ROS agent + arm ROS 2 packages ● Serial transport Full video here: https://www.eprosima.com/index.php/company-all/news/143-towards-competitive-warehouse-automation-with-micro-ros
- 18. Thank you! Francesca Finocchiaro eProsima - Team manager francescafinocchiaro@eprosima.com www.eprosima.com