“The Robotics Middleware Framework (RMF) enables interoperability among heterogeneous robot fleets while managing robot traffic that share resources such as space, building infrastructure systems (lifts, doors, etc) and other automation systems within the same facility. RMF also handles task allocation and conflict resolution among its participants (de-conflicting traffic lanes and other resources).”
This session continues the Security Working Group’s goal to document a fully-enabled ROS 2 security implementation for a real-world, moderately complex system using SROS2. Hope to see you there, but if you’re unable to attend in person, we’ll follow up with a link to the session recording.
5:01 (slide 4) - RMF is about multi-robot systems. Challenges include interoperabilities, testing , infrastructure and security
7:03 (slide 7) - RMF interacts with doors and lifts, handle test planning and allocation, fleet traffic, management and workcell interaction
8:07 (slide 11) - The core system takes care of allocation tasks, traffic management, etc. Adapters can connect to different parts of the infrastructure.
9:32 (slide 12) - RMF simplifies / standardizes messages. It is a system of systems synthesizer, allowing different systems to talk in different protocols; plugins translate between protocols. Also provides standard messages.
15:30 (slide 16) - RMF can resolve unexpected conflicts in a dynamic envionment.
21:00 (slide 29) - Use the operations dashboard for monitoring schedules and trajectories. The dashboard is migrating from rviz (foxy release) to web-based (build from source).
23:26 Demonstration
29:35 (slide 32) - Security challenges.
Q&A
33:25 Can you expand on the human component of your security concerns?
43:40 How do you define trust boundaries, set up your certificate hierarchy?
