ROS2 Embedded SIG meeting #1

BorjaOuterelo · October 30, 2018, 6:14am

Following the current interest on a ROS 2 targeting microcontrollers we have scheduled an online community meeting for next Monday, 5th of November at 16:00-18:00 UTC.

The meeting will take place on hangouts meet: https://meet.google.com/eym-hjfs-mvq

The main point of this meeting would be to get some consensus on design and joint efforts on the development.

Currently, there is an in-progress PR with a draft of a design:

qnetjoe · November 5, 2018, 6:07pm

I was unable to make this meeting, are there any plans to post minutes?

BorjaOuterelo · November 7, 2018, 9:26am

Here you can find the meeting notes.
If any of the attendees want his names/companies removed from them I can do it.

ROS 2 Embedded SIG meeting Agenda 11/05

05 NOVEMBER 2018 17:00 PM, Hangouts Meet.

ATTENDEES

eProsima: Jaime Martin, Borja Outerelo
Bosch: Ingo Lütkebohle
Acutronic Robotics: Iñigo Muguruza
eSOL: Akihiko Tsukuda, Shoji Morita (supporting Renesas, https://www.esol.com/embedded/emcos.html)
Amazon: Nick Burek
Renesas: Osamu “Max” Matshushima
AIST: Geoffrey Biggs

AGENDA

Quick presentations

Quick presentations on each of the attendees.
By turns, each of the attendees introduces themselves. Check Attendees section for the list.

Embedded ROS 2 Design

Summary of the current status of the design.
PR on ROS2 Design:

Original design doc from OFERA/microROS:

github.com

microROS/design/blob/embedded_ROS2/articles/embedded.md

---
layout: default
title: Embedded ROS 2.0
abstract:
  This article captures requirements, design ideas and related works on a tiny ROS 2.0 stack for microcontrollers.
published: true
author: 'In alphabetic order: [Adam Dąbrowski](https://github.com/adamdbrw), [Borja Outerelo](https://github.com/BorjaOuterelo), [Ingo Lütkebohle](https://github.com/iluetkeb), [Ralph Lange](https://github.com/ralph-lange), [Víctor Mayoral Vilches](https://github.com/vmayoral), ... and many more from Embedded ROS 2 Interest Group. Please feel free to add your name.'
---

{:toc}

# {{ page.title }}

<div class="abstract" markdown="1">
{{ page.abstract }}
</div>

Original Author: {{ page.author }}

While ROS 2 can run on Linux-class embedded devices, smaller

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Discussion

Ingo: What kind of devices we are targeting?

Geoffrey Biggs: Possible two targets:
Bigger devices using the current stack.
Smaller devices using something more like rosserial.

Iñigo: We are not very far from small devices on OFERA project we are squeezing the sizes with pretty good results (XRCE-DDS client is taking ~4k RAM)

Nick: We are looking at TurtleBot. We don’t think we need a smaller implementation.
They have one implementation targeting Arduino, extending TurtleBot that is already integrated on Arduino platform.

Ingo: May OSRF can help with some optimisations and modularisation on RCL and RMW.

Ingo & Geoffrey Biggs:
One of the most significant issues is the statically concept in RCL and RMW.

Ingo: We should engage OSRF for ensuring the success of this work. Some layers will need to be modified in future.

Current work review

List and review of currently available approaches.

Borja: The current release of OFERA/micro-ROS:

Project’s GitHub page:

Nick:

Very thin wrapper over Micro XRCE-DDS with pretty simple basic ROS 2 concepts.
Don’t need to touch ROS 2 core.
Having a lot of rosserial users, It looks a good idea to have a migration path to ROS 2.

Open question: Is the use case people bringing ROS 2 nodes to microcontrollers or just implementing specific nodes?

Ingo: People worrying about minimal impact will do their custom implementation.
People on ROS 2 community side, may want the full stack approach.
If we can get RCL/RMW really small would be the ideal approach.

Nick: H-ROS is other interesting approach using microprocessors. But how small they are targeting?.

Iñigo: H-ROS uses H-RIM to set a standard information model to be able to plug and play components.
H-ROS would like to integrate microcontrollers.

Ingo: We plan to benchmark the memory usage of the provided solutions.
We think that the messages buffers are probably the biggest consumers.

Nick: Will be Lovely to have measures on current consumption of RMW and RCL

Osamu “Max” Matshushima: RTOS is the biggest consumer on the system. In our POC FreeRTOS uses more ram than Micro XRCE-DDS implementation. TCP/IP stack included.
Link to the source code?

Borja: You can select the protocol you want to use under micro XRCE-DDS: TCP, UDP, Serial even personalise yours.

Ingo: We use FreeRTOS on XDK, see https://xdk.bosch-connectivity.com/hardware

Further actions

Organisation and further actions of a joint effort towards embedded ROS 2.

Ingo: Trying to get further information on the RCL and RMW implementation.
Maybe engage in a discussion on the size of the layers once we have some data.

Iñigo & Ingo & Borja:
RTOS implementation for later.

Osamu “Max” Matshushima:
Provide POC code.

AP

Provide some demos for memory usage measures.
Planning: Alternate time approach for setting meeting times.
Planning: Meets to be set for every two weeks.

godzilla_max · November 13, 2018, 7:27am

Here is the memory usage of Renesas RX65N implementation. The memory size I discussed at the SIG meeting includes AWS and Mbed TLS which are the big memory consumers. If we don’t have to support the use-case, the memory usage becomes quite small (Use case 1 and 2). Please see the table below. Please note this memory usage could get changed during the course of development.

For RX65N FreeRTOS code, please see https://github.com/renesas-rx/amazon-freertos/tree/master/demos/renesas/rx65n-gr-rose

Use case1: w/ UART

	Flash	RAM
FreeRTOS Kernel	10KB	0KB (allocated by heap/stack)
RX Driver Package	30KB	5KB
Micro XRCE-DDS	50KB	5KB
System heap/stack	-	10KB
Total	90KB	20KB

Use case2: w/ Local Area Network

	Flash	RAM
Use case1	10KB	0KB (allocated by heap/stack)
RX Driver Package	30KB	5KB
Micro XRCE-DDS	50KB	5KB
FreeRTOS+TCP	20KB	0KB (allocated by heap/stack)
System heap/stack	-	30KB
Total	110KB	40KB

Use case3: w/ full implementation: Wide Area Network

	Flash	RAM
FreeRTOS Kernel	10KB	0KB (allocated by heap/stack)
RX Driver Package	30KB	5KB
Micro XRCE-DDS	50KB	5KB
FreeRTOS+TCP	20KB	0KB (allocated by heap/stack)
Mbed TLS	110KB	20KB
AWS	50KB	10KB
System heap/stack	-	130KB
Total	270KB	170KB

godzilla_max · December 27, 2018, 8:03am

Please see https://github.com/godzilla-max/rose_sketch for DDS-XRCE PoC code running on the Renesas RX65N MCU.

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