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ROS-Industrial Introduction
        Webinar
        Shaun Edwards
       January 11, 2013
Biography

• Shaun Edwards
• Senior Research Engineer in
  Manufacturing System
  Department at Southwest
  Research Insti...
Agenda

• Overview of ROS
• Overview of ROS – Industrial
• ROS – Industrial Consortiums
ROS Overview
ROS Motivation

    Research Robotics
•   Reinvention of the Wheel
•   Little Commonality
•   Short Lifespan
•   Inability...
ROS: Robot Operating System

                ● Open source (BSD)
                ● Created by Willow Garage
              ...
What Can ROS Do?




http://www.youtube.com/watch?v=PGaXiLZD2KQ&list=UULlLhzlcustont9B3S0pjdg&index=2
=              +           +                  +

    Plumbing       Tools       Capabilities       Ecosystem
Publish / Subscribe messaging
                     Master

                    (DNS-like)
       Publisher                ...
=              +           +                  +

    Plumbing       Tools       Capabilities       Ecosystem
Standard Dev. Tools
• Standard Linux tools
   – Compilers, Debuggers, Loggers, IDEs
• Multiple language support
   – C/C++...
ROS Tools




 plotting
 graph visualization
 diagnostics
 Simulation/visualiz
   ation
=              +           +                  +

    Plumbing       Tools       Capabilities       Ecosystem
Capabilities
• State of the art
  algorithms                        Mobility and
                                    Navig...
=              +           +                  +

    Plumbing       Tools       Capabilities       Ecosystem
User Community




     *ros.org visitor statistics (one month)
Statistics
• ROS Core statistics by:
                                      200+ Repositories
  https://www.ohloh.net/p/ROS...
Documentation/Support
Community

• Openness encourages participation and
  collaboration
• Many small, yet organized efforts result in more
  ca...
ROS - Industrial
ROS-Industrial Motivation
• Motivated by desire to solve industrial robotics and
  automations hard problems
• Driven by a...
App: Automated Painting
• Automated spray paint
  processes
   – Reduce emissions
     (regulation)
   – Reduce exposure
 ...
Solution: Automated Painting
• 3D Sensing (ROS/OpenNI)
• 3D Processing (ROS/PCL)
• Process-based path
  planning (SwRI)
• ...
Motivation Summary

    Industrial Robotics
• Limited development tools
• Limited capabilities
• No portability, flexibili...
What is ROS-Industrial
• Open-Source (BSD)
  Extension of ROS
• Software Distribution
• Providing Industrial
  Solutions
 ...
Hardware Drivers
          • Robots
            –   Motoman
            –   Adept
            –   Universal (new)
        ...
Other Devices

         • Peripherals
            – Robotiq adaptive
              grippers
         • Networks
          ...
More Capabilities
Leveraging ROS




http://www.youtube.com/watch?feature=player_embedded&v=_WG-45cZSUQ
More Videos
• http://ros.org/wiki/Industrial/video
Future of ROS-Industrial
• Stability, Reliability, Usability
   – Code analysis, testing, and statistics
   – Long term/Ce...
Ways to Participate

• Independently Contribute/Participate:
   – Define interface standards
   – Develop software
   – Do...
Funders/Contributors
ROS-Industrial Consortiums
ROS-Industrial Consortiums

• ROS-Industrial
  (Americas) lead by
  Southwest
  Research Institute
• ROS-Industrial
  (Eur...
ROS-Industrial Consortium
       (Americas)
Consortium Motivation
• Provide a Voice for Industrial End Users
• Accelerate Code Development
   – Advanced Capabilities
...
How Will it Work?

• Membership organization (commercial, government,
  academic)
• Fees cover software maintenance, meeti...
Conclusions
• ROS has proven to be disruptive to robotics
  research
• ROS offers capabilities, tools, and a community
  b...
Come See Us at Automate!
•   ROS-INDUSTRIAL LIVE!
•   MCCORMICK PLACE, CHICAGO, ILLINOIS USA JANUARY 21-24, 2013
•   AUTOM...
Questions?

Clay Flannigan              Shaun Edwards
210-522-6805                210-522-3277
clay.flannigan@swri.org    ...
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An Introduction to ROS-Industrial

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An Introduction to ROS-Industrial

  1. 1. ROS-Industrial Introduction Webinar Shaun Edwards January 11, 2013
  2. 2. Biography • Shaun Edwards • Senior Research Engineer in Manufacturing System Department at Southwest Research Institute (SwRI) (8 years) • Specialize in advanced industrial robotics and automation programs • Graduated with a MS-ME from Case Western Reserve University, Cleveland, Ohio.
  3. 3. Agenda • Overview of ROS • Overview of ROS – Industrial • ROS – Industrial Consortiums
  4. 4. ROS Overview
  5. 5. ROS Motivation Research Robotics • Reinvention of the Wheel • Little Commonality • Short Lifespan • Inability to Compare Results ROS Solves These
  6. 6. ROS: Robot Operating System ● Open source (BSD) ● Created by Willow Garage ● Maintained by Open Source Robotics Foundation (OSRF)
  7. 7. What Can ROS Do? http://www.youtube.com/watch?v=PGaXiLZD2KQ&list=UULlLhzlcustont9B3S0pjdg&index=2
  8. 8. = + + + Plumbing Tools Capabilities Ecosystem
  9. 9. Publish / Subscribe messaging Master (DNS-like) Publisher Subscriber /topic Publisher Subscriber • Powerful dynamic architecture that promotes reuse • Simplifies complex programming • More flexible than industrial robot controllers
  10. 10. = + + + Plumbing Tools Capabilities Ecosystem
  11. 11. Standard Dev. Tools • Standard Linux tools – Compilers, Debuggers, Loggers, IDEs • Multiple language support – C/C++, Java, Python, Lisp • Standard libraries • Boost, MySQL, XML (whatever you can imagine) • Modern GUI tools • Many tools missing from industrial development packages
  12. 12. ROS Tools plotting graph visualization diagnostics Simulation/visualiz ation
  13. 13. = + + + Plumbing Tools Capabilities Ecosystem
  14. 14. Capabilities • State of the art algorithms Mobility and Navigation • Rapid development from research community Perception • Broader Manipulation capabilities than current industrial MoveIt! solutions
  15. 15. = + + + Plumbing Tools Capabilities Ecosystem
  16. 16. User Community *ros.org visitor statistics (one month)
  17. 17. Statistics • ROS Core statistics by: 200+ Repositories https://www.ohloh.net/p/ROSorg • 11,146 commits • 43 contributors • 148,163 lines of code • Long source history 28 Officially Supported maintained by a large development Robots team with stable year-over-year commits • Estimated cost $2,063,327
  18. 18. Documentation/Support
  19. 19. Community • Openness encourages participation and collaboration • Many small, yet organized efforts result in more capable and reliable software • In industrial space, development communities are few and far between
  20. 20. ROS - Industrial
  21. 21. ROS-Industrial Motivation • Motivated by desire to solve industrial robotics and automations hard problems • Driven by actual application needs (i.e. real life problems without commercial solutions) – Fixtureless automation – Dynamic pick and place – Flexible automation (many small & diverse part runs) – Sensor driven automation • Reduction in integration cost by standardizing interfaces and enabling reuse
  22. 22. App: Automated Painting • Automated spray paint processes – Reduce emissions (regulation) – Reduce exposure (personnel) – Reduce cost (materials) – Increase quality (consistency) • Challenges – Unconstrained location – “Random” part order – Real time processing – Moving parts
  23. 23. Solution: Automated Painting • 3D Sensing (ROS/OpenNI) • 3D Processing (ROS/PCL) • Process-based path planning (SwRI) • Robot kinematic solvers (ROS/MoveIt!) • Robot workcell visualization (ROS/Rviz) • Distributed system (ROS/Core) • Data acquisition/playback (ROS/bag)
  24. 24. Motivation Summary Industrial Robotics • Limited development tools • Limited capabilities • No portability, flexibility • Slow technology adoption ROS-Industrial Solves These • Barriers to transition basic research • Barriers to independent developers
  25. 25. What is ROS-Industrial • Open-Source (BSD) Extension of ROS • Software Distribution • Providing Industrial Solutions – Interoperability w/ COTS Hardware – Industrial Applications – Extended Capabilities
  26. 26. Hardware Drivers • Robots – Motoman – Adept – Universal (new) – Fanuc (new) – ABB (new) – Kuka (Coming soon) – More to come…
  27. 27. Other Devices • Peripherals – Robotiq adaptive grippers • Networks – EtherCAT (Beckhoff Modules) – Serial – USB – Ethernet
  28. 28. More Capabilities
  29. 29. Leveraging ROS http://www.youtube.com/watch?feature=player_embedded&v=_WG-45cZSUQ
  30. 30. More Videos • http://ros.org/wiki/Industrial/video
  31. 31. Future of ROS-Industrial • Stability, Reliability, Usability – Code analysis, testing, and statistics – Long term/Certified releases – More tutorials and documentation • Installed systems • Technology – More hardware support – Improved path planners – Physics based simulation – GUI based programming
  32. 32. Ways to Participate • Independently Contribute/Participate: – Define interface standards – Develop software – Documentation • OEMs – develop interfaces to your equipment • Integrators - Use it for projects and customers • Join the ROS-Industrial Consortium • There are a number of other ways as well…
  33. 33. Funders/Contributors
  34. 34. ROS-Industrial Consortiums
  35. 35. ROS-Industrial Consortiums • ROS-Industrial (Americas) lead by Southwest Research Institute • ROS-Industrial (Europe) lead by Fraunhofer IPA
  36. 36. ROS-Industrial Consortium (Americas)
  37. 37. Consortium Motivation • Provide a Voice for Industrial End Users • Accelerate Code Development – Advanced Capabilities – Code Quality Standards/Enforcement – Testing, Reliability, Robustness – Training – Maintenance • Build Community – Attract User-Generated Content – Maintain Open-Source Repository, Wiki, Roadmap – Ensure Code Reusability
  38. 38. How Will it Work? • Membership organization (commercial, government, academic) • Fees cover software maintenance, meetings, outreach • Collaborative research projects will be formed and funded by member sub-groups • Open source software: – All software developed under general funds – Project software at the discretion of the funding group • More info: http://consortium.rosindustrial.org
  39. 39. Conclusions • ROS has proven to be disruptive to robotics research • ROS offers capabilities, tools, and a community beyond current commercial options • ROS-Industrial is focused on addressing the needs of the industrial robotics and automation market • The ROS-Industrial community is growing • The ROS-Industrial Consortium will provide a voice to its members to identify needs and set priorities for the project
  40. 40. Come See Us at Automate! • ROS-INDUSTRIAL LIVE! • MCCORMICK PLACE, CHICAGO, ILLINOIS USA JANUARY 21-24, 2013 • AUTOMATE 2013 • SOUTHWEST RESEARCH INSTITUTE • Booth #314 • Product / Service Categories – R&D and Engineering Services – System Integration – Vision and Perception Systems – Custom Solutions
  41. 41. Questions? Clay Flannigan Shaun Edwards 210-522-6805 210-522-3277 clay.flannigan@swri.org shaun.edwards@swri.org Main site: rosindustrial.org Software site: code.rosindustrial.org Docs site: wiki.rosindustrial.org Consortium site: consortium.rosindustrial.org
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