Here you can find the meeting notes. If any of the attendees want his names/companies removed from them I can do it. # ROS 2 Embedded SIG meeting Agenda 11/05 05 NOVEMBER 2018 17:00 PM, Hangouts Meet. ## ATTENDEES * eProsima: Jaime Martin, Borja Outerelo * Bosch: Ingo Ltkebohle * Acutronic: Iigo Muguruza * eSOL: Akihiko Tsukuda, Shoji Morita (supporting Renesas, https://www.esol.com/embedded/emcos.html) * Amazon: Nick Burek * Renesas: Osamu Max Matshushima * AIST: Geoffrey Biggs ## AGENDA ### Quick presentations Quick presentations on each of the attendees. By turns, each of the attendees introduces themselves. Check Attendees section for the list. ### Embedded ROS 2 Design Summary of the current status of the design. PR on ROS2 Design: https://github.com/ros2/design/pull/197 Original design doc from OFERA/microROS: https://github.com/microROS/design/blob/embedded_ROS2/articles/embedded.md #### Discussion _Ingo:_ What kind of devices we are targeting? _Geoffrey Biggs:_ Possible two targets: Bigger devices using the current stack. Smaller devices using something more like rosserial. _Iigo:_ We are not very far from small devices on OFERA project we are squeezing the sizes with pretty good results (XRCE-DDS client is taking ~4k RAM) _Nick:_ We are looking at TurtleBot. We don't think we need a smaller implementation. They have one implementation targeting Arduino, extending TurtleBot that is already integrated on Arduino platform. _Ingo:_ May OSRF can help with some optimisations and modularisation on RCL and RMW. Ingo & Geoffrey Biggs: One of the most significant issues is the statically concept in RCL and RMW. _Ingo:_ We should engage OSRF for ensuring the success of this work. Some layers will need to be modified in future. ### Current work review List and review of currently available approaches. _Borja:_ The current release of OFERA/micro-ROS: https://discourse.ros.org/t/rmw-microxrcedds-implementation/6727 Projects GitHub page: https://github.com/microROS _Nick:_ https://github.com/awslabs/aws-ros-client-library-microcontrollers Very thin wrapper over Micro XRCE-DDS with pretty simple basic ROS 2 concepts. Don't need to touch ROS 2 core. Having a lot of rosserial users, It looks a good idea to have a migration path to ROS 2. **Open question:** Is the use case people bringing ROS 2 nodes to microcontrollers or just implementing specific nodes? _Ingo:_ People worrying about minimal impact will do their custom implementation. People on ROS 2 community side, may want the full stack approach. If we can get RCL/RMW really small would be the ideal approach. _Nick:_ H-ROS is other interesting approach using microprocessors. But how small they are targeting?. _Iigo:_ H-ROS uses H-RIM to set a standard information model to be able to plug and play components. H-ROS would like to integrate microcontrollers. _Ingo:_ We plan to benchmark the memory usage of the provided solutions. We think that the messages buffers are probably the biggest consumers. _Nick:_ Will be Lovely to have measures on current consumption of RMW and RCL _Osamu Max Matshushima:_ RTOS is the biggest consumer on the system. In our POC FreeRTOS uses more ram than Micro XRCE-DDS implementation. TCP/IP stack included. Link to the source code? _Borja:_ You can select the protocol you want to use under micro XRCE-DDS: TCP, UDP, Serial even personalise yours. _Ingo:_ We use FreeRTOS on XDK, see https://xdk.bosch-connectivity.com/hardware ### Further actions Organisation and further actions of a joint effort towards embedded ROS 2. _Ingo:_ Trying to get further information on the RCL and RMW implementation. Maybe engage in a discussion on the size of the layers once we have some data. _Iigo & Ingo & Borja:_ RTOS implementation for later. _Osamu Max Matshushima:_ Provide POC code. ### AP Provide some demos for memory usage measures. _Planning:_ Alternate time approach for setting meeting times. _Planning:_ Meets to be set for every two weeks. --- [Visit Topic](https://discourse.ros.org/t/ros2-embedded-sig-meeting/6645/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: