ROS 2 Embedded SIG meeting #3 Agenda & Notes 06/03
03 June 2019 17:00 PM, Hangouts Meet.
New meeting link: http://meet.google.com/pjs-fkje-scx
ATTENDEES
eProsima: Borja Outerelo
Bosch: Ingo Lütkebohle, Ralph Lange, Jan Staschulat
Acutronic Robotics: Iñigo Muguruza Goenaga
Renesas: Max Matsushima
eSOL: Shoji Morita
AGENDA
Kobuki demo presentation.
Present to the SIG the work is done for the Kobuki demo and why RCL directly and Micro XRCE-DDS Agent official package release.
Bosch created an rcl demo on top of well-known Turtlebot 2 robot using rmw_microxrcedds and rclc (WIP in a port to rcl):
Laptop side: https://github.com/micro-ROS/micro-ROS_kobuki_demo
Firmware side: https://github.com/micro-ROS/apps/tree/kobuki_rcl_port/examples/kobuki
Video at ROS 2 Dashing Diademata Released!
On-going works:
- Port from rclc to rcl
- Adding a laser driver
- Rework build system (see below).
New Micro XRCE-DDS version (1.1.0) to be released this week, implementing DDS-XRCE 1.0 beta2.
Micro XRCE-DDS Agent package already pushed to be added into ROS2 repos: http://repo.ros2.org/status_page/crystal_default.html.
Additionally, Acutronic also developed a demo as an example of usage of micro-ROS. It publishes temperature data from an embedded board (Olimex) to a Raspberry Pi.
Decision paper.
Link with the previous point shows the decision document and explain it.
https://micro-ros.github.io/docs/concepts/client_library/decision_paper/. Expose the two paths. RCL and RCLCPP.
https://micro-ros.github.io/docs/client_library/decision_paper/
Integrated build system.
Present build system ideas https://github.com/micro-ROS/micro-ros-build/blob/master/doc/design.md
Improved compilation times and compilation experience for the user.
Working in an automatic process to generate de microcontroller workspace.
In the next meeting, we will be expecting more updates.
Testing and feedback from the community will be appreciated.
Renesas update GR-ROSE board and Nuttx implementation status
Renesas WIP porting GR-ROSE to NuttX.
eSOL demonstration with GR-ROSE:
Demo system using XRCE-DDS and AWS RoboMaker
Next steps
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Discuss the first concept for executors on rcl level, link to new Real-Time SIG
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Who is interested in digging into rclcpp on MCUs?