Bridge Ready for ROS* 2.0 Minggang Wang September 30 2018 Agenda ● Who We Are ● Why Use Node.js & Web in Robotics ● Thinking in “ROS 2.0 + Web” ● What We Have Done for “ROS 2.0 + Web” ● The Design Design of rclnodejs & ros2-web-bridge ● List of Features ● Performance Comparison: Node.js, C++ & Python ● Video Demo ● Intel Robot ● Contacts & Resource Links 2 3 Who we are ● Intel Open etc. ● How to bring ROS into the web? ○ RWT* can bring ROS 1.0 APIs into a web browser ○ Nothing for ROS 2.0 back in Mid’17, so we did one ○ But is it the best way to expose all ROS API in web? e.g. service

Outline ● Introduction ● Overview of ROS 2 ● ROS 2 Conventional Approach ● Introduction to Functional Programming Principles ● Refactoring using Functional Programming Principles ● ConclusionIntroductionAbout System (ROS) is the de facto middleware of choice across robotics academia and industry Why use Robot Operating System? Clip taken from: https://robots.ros.org/● Robot Operating System (ROS) is the ● According to the ROS 2022 Metrics Report, more than 740 companies use ROS! Why use Robot Operating System? Clip taken from: https://robots.ros.org/● Robot Operating System (ROS) is the de facto middleware

Apex.Alan, Apex.Ray are trademarks of Apex.AI. CppCon 2023 Building bridges: Leveraging C++ and ROS for simulators, sensor data and algorithms Divya Aggarwal October 5, 2023© 2023 Apex.AI, Inc. | 1. ROS and simulators 2. What is missing? 3. Our proposal© 2023 Apex.AI, Inc. | All rights reserved. Apex.AI, Apex.OS, Apex.Grace, Apex.Ida, Apex.Alan, Apex.Ray are trademarks of Apex.AI. ROS and simulators© Apex.Grace, Apex.Ida, Apex.Alan, Apex.Ray are trademarks of Apex.AI. Back to basics — ROS ROS & simulators 5 ROS is an open-source Robot Operating System 1. A set of software libraries and tools that

system ● Cross-platform ● Memory Management 35Library used to implement plugin architecture in ROS projects• Robot Operating System • Set of libraries and tools to help build robotic applications communicate between nodes using topics What is ROS? Image from https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Nodes/Understanding- ROS2-Nodes.html 37• Network layer communication • Need plugins for performance • In a perfect world, ROS would not require plugins Why use plugins over nodes? 38• Defacto Plugin Manager for ROS projects • Built on top of class_loader, rcpputils and

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 6.12 ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 ROS Warning: This feature is experimental and subject to breaking changes. See the Conan stability section for more information. Conan provides integration for your Robot Operating System (ROS) C/C++ C/C++ based projects. This will allow you to consume Conan packages inside your ROS package projects. The Conan packages can be installed and used in CMake with the help of the ROSEnv generator created

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 6.11 ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 ROS Warning: This feature is experimental and subject to breaking changes. See the Conan stability section for more information. Conan provides integration for your Robot Operating System (ROS) C/C++ C/C++ based projects. This will allow you to consume Conan packages inside your ROS package projects. The Conan packages can be installed and used in CMake with the help of the ROSEnv generator created

format • Requires lots of run-time decisions • Generally maintained by a corporate entity • ROS and ROS 2 ecosystem (Open Robotics/ Intrinsic) • Drake (TRI) • Ignition and Gazebo (Open Robotics/Intrinsic) Locking primitives that block • Optimize for CPU and memory budgets, missed deadlines https://design.ros2.org/articles/realtime_background.htmlWhy C++ is Great for Real-Time Robotics • isocpp and --Wpedantic

Radius http://principlesofchaos.org Higher Resilience, Lower Cost Cost Scale Spot Instance mic ros erv ic e s t at eles s q u i c k r e s t a r t fault tolerance c haos engineering Reserved Instance

matérialisées dans le projet et peuvent être installée, ou mises à jour simplement. En principe les numéros de version respectent le SemVer32 (Semantic Versioning) et les différents signes permettent de sélection

提升资源利用率。接下来的部分 将介绍无人车系统在这两类环境下会面临哪些挑战，以及美团无人车团队如何通过引 擎应对这些挑战。 行为一致性的挑战 早期，美团无人车团队依赖于 ROS 搭建无人车系统，在车载环境下，ROS 的表现 合格。然而在开始仿真建设后，团队遇到很多问题，其中最突出的是“行为一致性问 题”，这个问题具体是指：无人车系统在运行过程中，当出现系统资源的变化，行为 也随之发生 种类。其中最简单的调度器是“在线调度器”，它的目标只有一个：在功能模块处 于 Ready 状态时执行它，车载系统中就是使用的这种调度器，它的行为方式也与 208 > 美团 2020 技术年货 ROS 类似，不过他会记录下调度时序以备使用。除此之外，引擎还提供一组离线 调度器，以应对不同的使用场景。这里在线和离线的差异根据数据来源判断，如果 数据来自传感器那么就是在线调度器；如果数据来自路测记录那就是离线调度器，