Thanks to @marcogg for a great overview of RMF at the Security Working Group meeting this week! If you’re interested in multi-robot systems but missed the demo, you can find it on youtube in the ROS 2 Working Groups channel. Presentation slides are also available.
Some highlights from the video:
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5:01 (slide 4) - RMF is about multi-robot systems. Challenges include interoperabilities, testing , infrastructure and security
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7:03 (slide 7) - RMF interacts with doors and lifts, handle test planning and allocation, fleet traffic, management and workcell interaction
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8:07 (slide 11) - The core system takes care of allocation tasks, traffic management, etc. Adapters can connect to different parts of the infrastructure.
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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.
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15:30 (slide 16) - RMF can resolve unexpected conflicts in a dynamic envionment.
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18:26 (slide 22) - The RMF toolbox includes:
- Traffic editor: annotate floor plans
- Building map tools
- Testing; able to use Ignition Robotics models
- rmf_core provides integration with rmf
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20:30 (slide 28) - RMF includes UI signalling
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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).
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23:26 Demonstration
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29:35 (slide 32) - Security challenges.
Q&A
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33:25 Can you expand on the human component of your security concerns?
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43:40 How do you define trust boundaries, set up your certificate hierarchy?
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50:04 Where do we start with simulating RMF?
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58:08 Revoking certificates. See also the secure version of the office demo.
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1:01:15 Is RMF ready for prime time? What is the short term plan for RMF?
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1:04:10 What about “fake” robots connecting to the fleet managers?
References
The following links were shared during the presentation: