[ros-users] [Discourse.ros.org] [Embedded] ROS2 Embedded SIG meeting
Borja Outerelo
ros.discourse at gmail.com
Wed Nov 7 09:36:43 UTC 2018
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.
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