Add notes on ROS2 approaches and add actions #5
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BorjaOuterelo
requested review from
adamdbrw,
iluetkeb,
imuguruza,
ralph-lange,
richiware and
vmayoral
richiware
previously approved these changes
Oct 22, 2018
ralph-lange
previously approved these changes
Oct 22, 2018
iluetkeb
reviewed
Oct 22, 2018
iluetkeb
requested changes
Oct 22, 2018
articles/embedded.md
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| @@ -69,15 +69,21 @@ To answer these questions, both the OFERA EU project as well as several others h | |||
| | A-BUILD-ARDUINO | Q-BUILD | Arduino Build | Robotis has explored building all the libraries using the Arduino IDE. This required some manual changes and thus does not scale, but can get you off the ground. | TODO | | |||
| | A-NUTTX-LIBCXX | Q-LANG | C++11/higher support for NuttX | Build libxx from the LLVM project on NuttX, as a pre-requisite to building rclcpp. | TODO | | |||
| | A-PERF-RCLCPP-RESOURCE | Q-PERF | Determine resource use of rclcpp | | TODO | | |||
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| | A-DDS-XRCE | Q-MIDDLEWARE | Use of DDS-XRCE standard protocol | This OMG standard defines the protocol used by microcontrollers to publish and subscribe data to a DDS Domain, standard in ROS 2. OFERA and ROBOTIS have proved that it is a suitable protocol to seamless communicate microcontrollers with ROS 2. | [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/) | | |||
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Suggested change
| | A-DDS-XRCE | Q-MIDDLEWARE | Use of DDS-XRCE standard protocol | This OMG standard defines the protocol used by microcontrollers to publish and subscribe data to a DDS Domain, standard in ROS 2. OFERA and ROBOTIS have proved that it is a suitable protocol to seamless communicate microcontrollers with ROS 2. | [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/) | | |
| | A-DDS-XRCE | Q-MIDDLEWARE | Use of DDS-XRCE standard protocol | This OMG standard defines the protocol used by microcontrollers to publish and subscribe data to a DDS Domain, standard in ROS 2. OFERA and ROBOTIS have demonstrated that it is a suitable protocol to seamlessly communicate with microcontrollers. | [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/) | |
articles/embedded.md
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| @@ -69,15 +69,21 @@ To answer these questions, both the OFERA EU project as well as several others h | |||
| | A-BUILD-ARDUINO | Q-BUILD | Arduino Build | Robotis has explored building all the libraries using the Arduino IDE. This required some manual changes and thus does not scale, but can get you off the ground. | TODO | | |||
| | A-NUTTX-LIBCXX | Q-LANG | C++11/higher support for NuttX | Build libxx from the LLVM project on NuttX, as a pre-requisite to building rclcpp. | TODO | | |||
| | A-PERF-RCLCPP-RESOURCE | Q-PERF | Determine resource use of rclcpp | | TODO | | |||
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| | A-DDS-XRCE | Q-MIDDLEWARE | Use of DDS-XRCE standard protocol | This OMG standard defines the protocol used by microcontrollers to publish and subscribe data to a DDS Domain, standard in ROS 2. OFERA and ROBOTIS have proved that it is a suitable protocol to seamless communicate microcontrollers with ROS 2. | [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/) | | |||
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Suggested change
| | A-DDS-XRCE | Q-MIDDLEWARE | Use of DDS-XRCE standard protocol | This OMG standard defines the protocol used by microcontrollers to publish and subscribe data to a DDS Domain, standard in ROS 2. OFERA and ROBOTIS have proved that it is a suitable protocol to seamless communicate microcontrollers with ROS 2. | [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/) | | |
| | A-DDS-XRCE | Q-MIDDLEWARE | Use of DDS-XRCE standard protocol | This OMG standard defines the protocol used by microcontrollers to publish and subscribe data to a DDS Domain, standard in ROS 2. OFERA and ROBOTIS have demonstrated that it is a suitable protocol to seamlessly communicate with microcontrollers. | [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/) | |
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I found "proved", with its connotation of formality a bit too strong. "demonstrate" should suffice.
articles/embedded.md
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| ## Prior and on-going works | ||
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| ### ROS2-based approaches | ||
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the micro-XRCE-DDS implementation of the upcoming XRCE-DDS standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). | ||
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). |
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Have you guys reached a consensus on the use of the domains with Erle? Personally, I would prefer linking to the Github-page for micro-ROS only.
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Yes, we agreed to use Github provided domain https://microros.github.io/micro-ROS/
articles/embedded.md
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| ## Prior and on-going works | ||
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| ### ROS2-based approaches | ||
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the micro-XRCE-DDS implementation of the upcoming XRCE-DDS standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). | ||
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). |
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Suggested change
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). | |
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [https://microros.github.io/micro-ROS/](https://microros.github.io/micro-ROS/). |
Suggested change
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). | |
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). |
articles/embedded.md
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| ## Prior and on-going works | ||
|
|
||
| ### ROS2-based approaches | ||
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the micro-XRCE-DDS implementation of the upcoming XRCE-DDS standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). | ||
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). |
There was a problem hiding this comment.
Suggested change
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). | |
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [https://microros.github.io/micro-ROS/](https://microros.github.io/micro-ROS/). |
articles/embedded.md
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| * [ROS 2 library for OpenCR by ROBOTIS](https://github.com/ROBOTIS-GIT/OpenCR/tree/feature-ROS2-micrortps/arduino/opencr_arduino/opencr/libraries/ROS2) | ||
| * [ROS 2 library for OpenCR by ROBOTIS](https://github.com/ROBOTIS-GIT/OpenCR/tree/feature-ros2-micrortps/arduino/opencr_arduino/opencr/libraries/ROS2): | ||
| Project enabling communication between Robotis' OpenCR board and ROS 2 nodes as part of the TurtleBot3 platform. This communication is enabled using DDS-XRCE implementation, Micro XRCE-DDS. |
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Suggested change
| Project enabling communication between Robotis' OpenCR board and ROS 2 nodes as part of the TurtleBot3 platform. This communication is enabled using DDS-XRCE implementation, Micro XRCE-DDS. | |
| Project enabling communication between Robotis' OpenCR board and ROS 2 nodes as part of the TurtleBot3 platform. This communication is enabled using a DDS-XRCE implementation, Micro XRCE-DDS. |
iluetkeb
reviewed
Oct 22, 2018
iluetkeb
reviewed
Oct 22, 2018
articles/embedded.md
Outdated
| @@ -69,15 +69,21 @@ To answer these questions, both the OFERA EU project as well as several others h | |||
| | A-BUILD-ARDUINO | Q-BUILD | Arduino Build | Robotis has explored building all the libraries using the Arduino IDE. This required some manual changes and thus does not scale, but can get you off the ground. | TODO | | |||
| | A-NUTTX-LIBCXX | Q-LANG | C++11/higher support for NuttX | Build libxx from the LLVM project on NuttX, as a pre-requisite to building rclcpp. | TODO | | |||
| | A-PERF-RCLCPP-RESOURCE | Q-PERF | Determine resource use of rclcpp | | TODO | | |||
|
|
|||
| | A-DDS-XRCE | Q-MIDDLEWARE | Use of DDS-XRCE standard protocol | This OMG standard defines the protocol used by microcontrollers to publish and subscribe data to a DDS Domain, standard in ROS 2. OFERA and ROBOTIS have proved that it is a suitable protocol to seamless communicate microcontrollers with ROS 2. | [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/) | | |||
There was a problem hiding this comment.
Suggested change
| | A-DDS-XRCE | Q-MIDDLEWARE | Use of DDS-XRCE standard protocol | This OMG standard defines the protocol used by microcontrollers to publish and subscribe data to a DDS Domain, standard in ROS 2. OFERA and ROBOTIS have proved that it is a suitable protocol to seamless communicate microcontrollers with ROS 2. | [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/) | | |
| | A-DDS-XRCE | Q-MIDDLEWARE | Use of DDS-XRCE standard protocol | This OMG standard defines the protocol used by microcontrollers to publish and subscribe data to a DDS Domain, standard in ROS 2. OFERA and ROBOTIS have demonstrated that it is a suitable protocol to communicate with microcontrollers. | [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/) | |
iluetkeb
reviewed
Oct 22, 2018
iluetkeb
reviewed
Oct 22, 2018
iluetkeb
reviewed
Oct 22, 2018
articles/embedded.md
Outdated
|
|
||
| ## Prior and on-going works | ||
|
|
||
| ### ROS2-based approaches | ||
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the micro-XRCE-DDS implementation of the upcoming XRCE-DDS standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). | ||
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). |
There was a problem hiding this comment.
Suggested change
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [http://micro-ros.com](http://micro-ros.com). | |
| * [EU project OFERA](http://ofera.eu/): The EU project OFERA (Open Framework for Embedded Robot Applications) aims at a ROS 2-compatible stack for MCUs in the range of STM32F4 or STM32L1, i.e. with possibly less than 100kB RAM. The project partners currently investigate of using the ROS 2 rmw, rcl and rclcpp layers as-is on the Micro XRCE-DDS implementation of the upcoming DDS-XRCE standard. In parallel, a more modular approach in the style of rosserial is investigated. In the project's use-cases, NuttX is considered as primary choice for the RTOS. Beyond the project page, additional details of the project results can be found at [https://microros.github.io/micro-ROS/](https://microros.github.io/micro-ROS/). |
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vmayoral
previously approved these changes
Oct 23, 2018
-Associates seamless integration with middleware questions. -Adds actions regarding middleware. -Fixes middleware and protocol names.
Co-Authored-By: BorjaOuterelo <[email protected]>
-Fixes some language misuse. -Splits sentences to single lines to improve diff readability.
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BorjaOuterelo
requested review from
ralph-lange,
richiware,
tkolcon,
ursereg,
vmayoral and
JaimeMartin
ralph-lange
reviewed
Oct 23, 2018
|
@iluetkeb I have addressed your observations. |
iluetkeb
previously approved these changes
Oct 24, 2018
ralph-lange
previously approved these changes
Oct 24, 2018
BorjaOuterelo
dismissed stale reviews from ralph-lange and iluetkeb
via
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@iluetkeb @ralph-lange I pushed latest changes following your recommendations. Can you check and we merge this before the ROS 2 PR?. |
iluetkeb
approved these changes
Oct 24, 2018
vmayoral
approved these changes
Oct 24, 2018
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Expands Robotis projects approach regarding MW and protocol used.
Adds MW actions related to current OFERA work.