Turtlebot3: VxWorks running ROS2 as a real-time guest OS on Hypervisor
Download as PPTX, PDF0 likes549 views
The document discusses the implementation of ROS2 on VxWorks as a real-time operating system within a hypervisor environment, enabling mixed-critical applications for mobile robotics. It highlights the essential role of ROS2 in creating complex autonomous applications and emphasizes the importance of safety-compliant solutions for the underlying systems. The Turtlebot3 platform is presented as an example of an affordable modular ROS2 implementation that leverages real-time capabilities and safety features.
Turtlebot3: VxWorks running ROS2 as a real-time guest OS on Hypervisor
- 1. Turtlebot3: VxWorks running ROS2 as a real-time guest OS on Hypervisor Andrei Kholodnyi, Principal Technologist, Wind River, Patrick Deiber, Senior Engineering Specialist, Wind River
- 2. CHEMICAL SECTOR COMMERCIAL BUILDING SECTOR COMMUNICATIONS SECTOR CRITICAL MANUFACTURING SECTOR DAMS SECTOR AEROSPACE AND DEFENSE SECTOR EMERGENCY SERVICES SECTOR ENERGY SECTOR FINANCIAL SERVICES SECTOR FOOD AND AGRICULTURE SECTOR GOVERNMENT BUILDING SECTOR MEDICAL SECTOR IT SECTOR NUCLEAR SECTOR TRANSPORTATION/AUTO SECTOR WATER AND WASTEWATER SECTOR 2 © 2019 WIND RIVER. ALL RIGHTS RESERVED.
- 3. NASA MITSUBISHI ELECTRIC Our software runs all these robots
- 4. 4 © 2019 WIND RIVER. ALL RIGHTS RESERVED. Before we start: some definitions
- 5. 5 © 2019 WIND RIVER. ALL RIGHTS RESERVED. Robot Operating System (ROS) The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms. ROS is licensed under an open source, BSD license The Robonaut 2 aboard the ISS runs ROS ROS Melodic Morenia Released ROS-Industrial Consortium kicks off 2007 ... 2013 2014 2015 ... 2019 2020 ROS at Willow Garage ROS2 alpha released ROS2 Dashing First LTS release ROS2 Foxy (May 2020) Next LTS release
- 6. 6 © 2019 WIND RIVER. ALL RIGHTS RESERVED. Turtlebot 3 (Affordable modular ROS2 platform) 360 LIDAR for SLAM & Navigation Scalable structure Single Board Computer Raspberry Pi OpenCR ARM Cortex M7 Dynamixel x 2 for Wheels 2 for Wheels Li Battery
- 7. 32/64 bits on Arm/Intel/MIPS/PowerPC Proprietary real-time OS, POSIX PSE52 Kernel/user space separation, user space optional C/C++11/14, possible to develop kernel C++ modules and user apps Safety certifiable: DO-178, ISO 26262, IEC 61508 Toolchain LLVM 8, Dinkumware C/C++ libs Proprietary build system Kernel shell Eclipse-based IDE, Windows/Linux hosts WHAT IS VXWORKS RTOS?
- 8. 8 © 2019 WIND RIVER. ALL RIGHTS RESERVED. App OS Type 1 and Type 2 hypervisors (both run VMs) App VM (OS) Hardware OT / Type 1 Embedded Hypervisor App OS App VM (OS) Hardware IT / Type 2 IT Hypervisor (Linux, Windows, vmware …) OS Baremetal OS
- 9. 9 © 2019 WIND RIVER. ALL RIGHTS RESERVED. What is mixed-criticality (and ROS2 in particular)
- 10. 10 © 2019 WIND RIVER. ALL RIGHTS RESERVED. ROS2 on WRLinux Option 1 WRLinux HW with Multi- core CPU App 1 App N WR safety certifiable OS WR non- safety OS WR FOSS Products • soft-RT capable • non-safety • TSN (time sensitive networking) Properties set #1
- 11. 11 © 2019 WIND RIVER. ALL RIGHTS RESERVED. ROS2 on VxWorks Option 2 WR safety certifiable OS WR non- safety OS WR FOSS Products VxWorks RTOS HW with Multi- core CPU App 1 App N • hard-RT • non-safety • TSN Properties set #2
- 12. 12 © 2019 WIND RIVER. ALL RIGHTS RESERVED. ROS2 on safety VxWorks WR safety certifiable OS WR non- safety OS WR FOSS Products VxWorks RTOS HW with Multi- core CPU Critical App 1 Critical App N Option 3 • hard-RT • Safety • TSN Properties set #3
- 13. 13 © 2019 WIND RIVER. ALL RIGHTS RESERVED. ROS2 on Hypervisor Hardware with Multi-core CPU Option 4 WR safety certifiable OS WR non- safety OS WR FOSS Products WRLinux App 1 App N VxWorks RTOS Legacy Framework Legacy App 1 Critical App 1 Critical App N • hard-RT • Safety • TSN • soft-RT capable • non-safety Legacy App N Wind River Virtualization Platform (Hypervisor) Get Mixed Properties Add Hypervisor
- 14. 14 © 2019 WIND RIVER. ALL RIGHTS RESERVED. ROS2 on Hypervisor Hardware with Multi-core CPU Opti on 4 WR safety certifiable OS WR non- safety OS WR FOSS Products WRLinux App 1 App N VxWorks RTOS Legacy Framework Legacy App 1 Critical App 1 Critical App N • hard-RT • Safety • TSN • soft-RT capable • non-safety Legacy App N Wind River Virtualization Platform (Hypervisor) Get Mixed Properties Add Hypervisor
- 15. VM VxWorks Control VxWorks ROS2 Sensing Control Actuation Edge VxWorks Control VxWorks ROS2 Sensing Actuation VxWorks ROS2 Control TSN Case 1: Decoupling control from sensing and actuation VM WRLinux ROS2 ML App Hypervisor
- 16. VM VM VMMultiple HW components OS1 FW1 App1 Consolidated Platform Hypervisor Case 2: HW Consolidation HW1 OS2 FW2 App2 HW2 OS3 FW3 App3 HW3 Multicore HW OS1 FW1 App1 OS2 FW2 App2 OS3 FW3 App3
- 17. VM VM VMMultiple SW components OS FW App1 Safety Separation Platform Hypervisor Case 3: SW Separation Multicore HW App2 App3 Multicore HW OS1 FW1 App1 OS2 FW2 App2 OS3 FW3 App3
- 18. 18 © 2019 WIND RIVER. ALL RIGHTS RESERVED. TurtleBot3 Burger Dashboard Wired or USB Wireless UP2 or NUC (Ubuntu18.04 LTS) WLAN router HDMI DP USB Wireless Demo
- 19. 19 © 2019 WIND RIVER. ALL RIGHTS RESERVED. TurtleBot3 Burger USB2Serial PWM LiDaR OpenCR Wired or USB Wireless UP2 or NUC (Ubuntu18.04 LTS) WLAN router HDMI DP USB Wireless Mars XU3 / ST3 (ZynqMP) (HVP + Vx + Lx) UP2 (IA) (HVP + Vx + Lx) SBC OR USB2Serial Dashboard Demo
- 20. 20 © 2019 WIND RIVER. ALL RIGHTS RESERVED. 192.168.1.10 vm1 PMU0 + Python / LED non-critical Turtlebot3 Burger Architecture on SBC Hardware Core 0 Core 1 Core 2 Core 3 Helix Virtualization Platform (Hypervisor) vmlinux Web Server + PMU3 vnet0_rosIf 10.0.0.1 vnic1 10.0.0.3 LAN/ WLAN Wind River Linux vconsole7 SDHC1UART vm2 ROS2 + LiDaR / OpenCR + PMU1 / PMU2 VxWorks vm0 “rootOS” VxWorks VxWorks vnic7 10.0.0.8 vconsole1vconsole0 USBGPIO vnic0 10.0.0.2 Dashboard
- 21. 21 © 2019 WIND RIVER. ALL RIGHTS RESERVED. vm2 Content - ROS2 on VxWorks runing control function https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos Core 1 Core 2 vm2 ROS2 + LiDaR / OpenCR + PMU1 / PMU2 VxWorks ROS2 dependencies: ASIO, tinyxml2, OpenCV LLVM C++11/C++14 VxWorks SR630 Turtlebot3 ROS2 packages Python 3.8 Cmake / autotools build primitives Intel 64bit / ARM64 POSIX ROS2 Obstacle avoidance app TB3 LiDAR driver TB3 OpenCR driver
- 22. 22 © 2019 WIND RIVER. ALL RIGHTS RESERVED. 192.168.1.10 vm1 PMU0 + Python / LED non-critical Reboot vm1, vm2 is still operational Hardware Core 0 Core 1 Core 2 Core 3 Helix Virtualization Platform (Hypervisor) vmlinux Web Server + PMU3 vnet0_rosIf 10.0.0.1 vnic1 10.0.0.3 LAN/ WLAN Wind River Linux vconsole7 SDHC1UART vm2 ROS2 + LiDaR / OpenCR + PMU1 / PMU2 VxWorks vm0 “rootOS” VxWorks VxWorks vnic7 10.0.0.8 vconsole1vconsole0 USBGPIO vnic0 10.0.0.2 Dashboard
- 23. 23 © 2019 WIND RIVER. ALL RIGHTS RESERVED. 192.168.1.10 vm1 PMU0 + Python / LED non-critical Reboot vmlinux, vm2 is still operational Hardware Core 0 Core 1 Core 2 Core 3 Helix Virtualization Platform (Hypervisor) vmlinux Web Server + PMU3 vnet0_rosIf 10.0.0.1 vnic1 10.0.0.3 LAN/ WLAN Wind River Linux vconsole7 SDHC1UART vm2 ROS2 + LiDaR / OpenCR + PMU1 / PMU2 VxWorks vm0 “rootOS” VxWorks VxWorks vnic7 10.0.0.8 vconsole1vconsole0 USBGPIO vnic0 10.0.0.2 Dashboard
- 24. 24 © 2019 WIND RIVER. ALL RIGHTS RESERVED. 192.168.1.10 vm1 PMU0 + Python / LED non-critical Pause vm2, TB3 contol stops Hardware Core 0 Core 1 Core 2 Core 3 Helix Virtualization Platform (Hypervisor) vmlinux Web Server + PMU3 vnet0_rosIf 10.0.0.1 vnic1 10.0.0.3 LAN/ WLAN Wind River Linux vconsole7 SDHC1UART vm2 ROS2 + LiDaR / OpenCR + PMU1 / PMU2 VxWorks vm0 “rootOS” VxWorks VxWorks vnic7 10.0.0.8 vconsole1vconsole0 USBGPIO vnic0 10.0.0.2 Dashboard
- 25. 25 © 2019 WIND RIVER. ALL RIGHTS RESERVED. Live Demo at 3A-233 by our partner Enclustra
- 26. 26 © 2019 WIND RIVER. ALL RIGHTS RESERVED. Conclusions ROS2 offers a possibilty to develop complex autonomous applications (mobile robotics). Important to consider proven safety-compliant solution for underlying layers (operating system). Safety and real-time OS running ROS2 stack under hypervisor allows to build flexible mixed-critical mobile robotics solutions
- 27. 27 © 2019 WIND RIVER. ALL RIGHTS RESERVED. https://labs.windriver.com Platform for Innovation
- 28. 28 © 2019 WIND RIVER. ALL RIGHTS RESERVED. Team Ka Kay Achacoso Patrick Deiber Torsten Demke Mihai Dragusu Andrei Kholodnyi Dan Milea Vlad Lungu
- 29. ™
Editor's Notes
- #3: For over 35 years we’ve served customers in markets with highest standards for safety, security, and performance. Collectively these markets, across these 16 subsectors, comprise what is referred to as Critical Infrastructure, those elements of a society or nation that are critical to its day to day operations. We believe that some thing are so important that they simply cannot fail. That is why we exist.
- #21: USB Devices cannot be set on partition basis? => then one partition for LiDaR and OpenCR Integration steps: Native WRLinux with ROS2 + LiDaR + OpenCR + Remote Control (GamePad) => reference platform for next steps (with RPI4B for example) / sanity check. HVP + WRLinux with ROS2 + LiDaR + OpenCR + Remote Control (GamePad) HVP + VxWorks + WRLinux as described in the picture above.
- #23: USB Devices cannot be set on partition basis? => then one partition for LiDaR and OpenCR Integration steps: Native WRLinux with ROS2 + LiDaR + OpenCR + Remote Control (GamePad) => reference platform for next steps (with RPI4B for example) / sanity check. HVP + WRLinux with ROS2 + LiDaR + OpenCR + Remote Control (GamePad) HVP + VxWorks + WRLinux as described in the picture above.
- #24: USB Devices cannot be set on partition basis? => then one partition for LiDaR and OpenCR Integration steps: Native WRLinux with ROS2 + LiDaR + OpenCR + Remote Control (GamePad) => reference platform for next steps (with RPI4B for example) / sanity check. HVP + WRLinux with ROS2 + LiDaR + OpenCR + Remote Control (GamePad) HVP + VxWorks + WRLinux as described in the picture above.
- #25: USB Devices cannot be set on partition basis? => then one partition for LiDaR and OpenCR Integration steps: Native WRLinux with ROS2 + LiDaR + OpenCR + Remote Control (GamePad) => reference platform for next steps (with RPI4B for example) / sanity check. HVP + WRLinux with ROS2 + LiDaR + OpenCR + Remote Control (GamePad) HVP + VxWorks + WRLinux as described in the picture above.