ROS2 has adopted DDS/RTPS as its middleware, increasing the performance and feature set over ROS1. DDS exposes many QoS parameters to adapt the middleware to very different scenarios, allowing easy configuration using XML files. This presentation will show how to set up ROS2 for several interesting scenarios.

This talk describes the development of two ROS 2 manipulation pipelines using industrial robots. Within the latest ROS 2 release, beta2, key features such as namespaces, lifecycle nodes and composition allow a control architecture where controllers can be dynamically loaded (on runtime) and managed externally. ROS 2 multi-node executors also allow us to build an low overhead 3D computer vision pipeline. We describe how these concepts are leveraged to control a UR5 industrial robot (Linux) and an ABB YuMi robot (Windows). We investigate the methodology, challenges, and best practices involved in developing these systems in ROS 2.

The ROS 2 Vision

For Advancing the Future

of Robotics Development

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Sep. 21st 2017

Dirk Thomas, Mikael Arguedas

ROSCon 2017, Vancouver, Canada

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SLAM (cartographer) on Turtlebot2 using ROS2

Chris Lalancette

clalancette@openrobotics.org

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September 21, 2017

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