an introduction to ros-industrial
DESCRIPTION
TRANSCRIPT
ROS-Industrial IntroductionWebinar
Shaun EdwardsJanuary 11, 2013
Biography
• Shaun Edwards• Senior Research Engineer in
Manufacturing System Department at Southwest Research Institute (SwRI) (8 years)
• Specialize in advanced industrial robotics and automation programs
• Graduated with a MS-ME from Case Western Reserve University, Cleveland, Ohio.
Agenda
• Overview of ROS• Overview of ROS – Industrial• ROS – Industrial Consortiums
ROS Overview
Research Robotics • Reinvention of the Wheel• Little Commonality• Short Lifespan• Inability to Compare Results
ROS Solves These
ROS Motivation
● Open source (BSD)● Created by Willow Garage● Maintained by Open Source
Robotics Foundation (OSRF)
ROS: Robot Operating System
http://www.youtube.com/watch?v=PGaXiLZD2KQ&list=UULlLhzlcustont9B3S0pjdg&index=2
What Can ROS Do?
= + + +
Plumbing Tools Capabilities Ecosystem
Master
Publisher
Publisher
Subscriber
Subscriber
/topic
(DNS-like)registe
r(/topic) query(/topic)
Publish / Subscribe messaging
• Powerful dynamic architecture that promotes reuse
• Simplifies complex programming• More flexible than industrial robot controllers
= + + +
Plumbing Tools Capabilities Ecosystem
Standard Dev. Tools• Standard Linux tools
– Compilers, Debuggers, Loggers, IDEs• Multiple language support
– C/C++, Java, Python, Lisp• Standard libraries
• Boost, MySQL, XML (whatever you can imagine)• Modern GUI tools• Many tools missing from industrial development
packages
ROS Tools
plottinggraph visualizationdiagnosticsSimulation/
visualization
= + + +
Plumbing Tools Capabilities Ecosystem
Capabilities
• State of the art algorithms
• Rapid development from research community
• Broader capabilities than current industrial solutions
Manipulation
Mobility andNavigation
Perception
MoveIt!
= + + +
Plumbing Tools Capabilities Ecosystem
User Community
*ros.org visitor statistics (one month)
Statistics
200+ Repositories
28 Officially Supported Robots
• ROS Core statistics by: https://www.ohloh.net/p/ROSorg
• 11,146 commits• 43 contributors • 148,163 lines of code• Long source history
maintained by a large development team with stable year-over-year commits
• Estimated cost $2,063,327
Documentation/Support
Community
• Openness encourages participation and collaboration
• Many small, yet organized efforts result in more capable and reliable software
• In industrial space, development communities are few and far between
ROS - Industrial
ROS-Industrial Motivation
• Motivated by desire to solve industrial robotics and automations hard problems
• Driven by actual application needs (i.e. real life problems without commercial solutions)– Fixtureless automation– Dynamic pick and place– Flexible automation (many small & diverse part runs)– Sensor driven automation
• Reduction in integration cost by standardizing interfaces and enabling reuse
App: Automated Painting• Automated spray paint
processes– Reduce emissions
(regulation)– Reduce exposure
(personnel)– Reduce cost (materials)– Increase quality
(consistency)• Challenges
– Unconstrained location– “Random” part order– Real time processing– Moving parts
Solution: Automated Painting• 3D Sensing (ROS/OpenNI)• 3D Processing (ROS/PCL)• Process-based path
planning (SwRI)• Robot kinematic solvers
(ROS/MoveIt!)• Robot workcell visualization
(ROS/Rviz)• Distributed system
(ROS/Core)• Data acquisition/playback
(ROS/bag)
Industrial Robotics• Limited development tools• Limited capabilities• No portability, flexibility• Slow technology adoption• Barriers to transition basic
research• Barriers to independent
developers
ROS-Industrial Solves These
Motivation Summary
• Open-Source (BSD) Extension of ROS
• Software Distribution• Providing Industrial
Solutions– Interoperability w/ COTS
Hardware– Industrial Applications– Extended Capabilities
What is ROS-Industrial
• Robots– Motoman– Adept– Universal (new)– Fanuc (new)– ABB (new)– Kuka (Coming soon)– More to come…
Hardware Drivers
Other Devices
• Peripherals– Robotiq adaptive
grippers• Networks
– EtherCAT (Beckhoff Modules)
– Serial– USB– Ethernet
More Capabilities
Leveraging ROS
http://www.youtube.com/watch?feature=player_embedded&v=_WG-45cZSUQ
• Stability, Reliability, Usability– Code analysis, testing, and statistics– Long term/Certified releases– More tutorials and documentation
• Installed systems• Technology
– More hardware support– Improved path planners– Physics based simulation– GUI based programming
Future of ROS-Industrial
Ways to Participate
• Independently Contribute/Participate:– Define interface standards– Develop software– Documentation
• OEMs – develop interfaces to your equipment• Integrators - Use it for projects and customers• Join the ROS-Industrial Consortium• There are a number of other ways as well…
Funders/Contributors
ROS-Industrial Consortiums
ROS-Industrial Consortiums
• ROS-Industrial (Americas) lead by Southwest Research Institute
• ROS-Industrial (Europe) lead by Fraunhofer IPA
ROS-Industrial Consortium(Americas)
Consortium Motivation• Provide a Voice for Industrial End Users• Accelerate Code Development
– Advanced Capabilities– Code Quality Standards/Enforcement– Testing, Reliability, Robustness– Training– Maintenance
• Build Community– Attract User-Generated Content– Maintain Open-Source Repository, Wiki, Roadmap– Ensure Code Reusability
How Will it Work?
• Membership organization (commercial, government, academic)
• Fees cover software maintenance, meetings, outreach• Collaborative research projects will be formed and
funded by member sub-groups • Open source software:
– All software developed under general funds– Project software at the discretion of the funding group
• More info: http://consortium.rosindustrial.org
Conclusions
• ROS has proven to be disruptive to robotics research
• ROS offers capabilities, tools, and a community beyond current commercial options
• ROS-Industrial is focused on addressing the needs of the industrial robotics and automation market
• The ROS-Industrial community is growing• The ROS-Industrial Consortium will provide a voice
to its members to identify needs and set priorities for the project
Come See Us at Automate!
• ROS-INDUSTRIAL LIVE!• MCCORMICK PLACE, CHICAGO, ILLINOIS USA JANUARY 21-24, 2013• AUTOMATE 2013• SOUTHWEST RESEARCH INSTITUTE• Booth #314• Product / Service Categories
– R&D and Engineering Services– System Integration – Vision and Perception Systems– Custom Solutions
Questions?
Main site: rosindustrial.orgSoftware site: code.rosindustrial.orgDocs site: wiki.rosindustrial.orgConsortium site:
consortium.rosindustrial.org
Clay [email protected]
Shaun [email protected]