June 2018 Archives

ROSCon 2017: The rostune package: Monitoring systems of distributed ROS nodes -- Georgios Stavrinos and Stasinos Konstantopoulos (NCSR "Demokritos")

By Tully Foote on June 29, 2018 11:09 AM

Looking foward to ROSCon 2018 we're highlighting presentations from last year. The ROSCon 2018 registration is currently open. As well as the Call for Proposals.

Finishing up the morning session Georgios and Stasinos presented rostune. A tool to help you understand the state of your ROS system better and how that can help you improve performance.

Video

Abstract

rostune is a tool that helps ROS developers distribute their nodes in the most effective way. It collects and visualizes statistics for topics and nodes, such as CPU usage and network usage. In this talk we are going to present technical details about rostune and a characteristic use case from an on-going project developing a home assistance robot, where processing can be distributed between the robot's on-board computer and computational units available at the home.

Slides

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ROSCon 2017: Secure ROS: Imposing secure communication in a ROS system -- Aravind Sundaresan and Leonard Gerard (SRI International)

By Tully Foote on June 26, 2018 11:06 AM

Looking foward to ROSCon 2018 we're highlighting presentations from last year. The ROSCon 2018 registration is currently open. As well as the Call for Proposals.

Following the SROS presentation Aravind and Leonard follow up with a summary of Secure ROS another way to secure the ROS API.

Video

Abstract

Secure ROS is an update to ROS allowing secure communications while keeping ROS public API intact and allowing user code to be reused without modification. Policies are provided at execution time with a YAML file specifying authorized subscribers and publishers to topics, getters and setters to parameters, as well as providers and requesters of services. Policies are specified at the IP address level and enforced by Secure ROS. Combined with IPSec for cryptography, Secure ROS provides secure, authenticated and encrypted ROS communications. Modifications to the ROS code base is restricted to the ROS Master and client libraries (rospy and roscpp).

Slides

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ROSCon 2017: SROS: Current Progress and Developments -- Ruffin White (University of California, San Diego) Gianluca Caiazza (Ca' Foscari University, Venice)

By Tully Foote on June 25, 2018 11:04 AM

Looking foward to ROSCon 2018 we're highlighting presentations from last year. The ROSCon 2018 registration is currently open. As well as the Call for Proposals.

Ruffin and Gianluca give an update on SROS progress since last year.

Video

Abstract

Introduced last year was a proof-of-concept implementation of SROS, an addition to the ROS ecosystem to support modern security. This talk will provide an update on developing REPS, with further details on proposed mechanics enabling application layer security for ROS. This includes Hardening APIs via full server/client validation, Standardized Policy Profile Syntax for access control of topics, services and parameters, and Integrated Policy Profile Autogeneration via auditing security log events. You'll gain a greater familiarity of SROS, its inner workings and direction, enabling you to contribute and provide feedback for the effort to secure robotics subsystems for the future.

Slides

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ROSCon 2017: SLAM on TurtleBot2 using ROS2 -- Chris Lalancette (Open Robotics)

By Tully Foote on June 18, 2018 10:59 AM

Looking foward to ROSCon 2018 we're highlighting presentations from last year. The ROSCon 2018 registration is currently open. As well as the Call for Proposals.

To show a real system running ROS Chris shows how ROS2 can be used to implement SLAM on a TurtleBot2.

Video

Abstract

This talk will focus on a larger application written entirely in ROS2. The application is a SLAM system (Google Cartographer) running on a Turtlebot2 using all underlying ROS2 components. The talk will describe the hardware and software setup of the robot, as well as porting and other challenges encountered while developing the application.

Slides

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ROSCon 2017: RoboWare: A "Product Oriented Design" IDE for ROS developers -- Tony B Wang and Jeff Gao (Jinan Tony Robotics)

By Tully Foote on June 11, 2018 1:09 PM

Looking foward to ROSCon 2018 we're highlighting presentations from last year. The ROSCon 2018 registration is currently open. As well as the Call for Proposals.

Tony Wang and Jeff Gao present the motivation and design behind RoboWare. As well as an overview of how you can leverage RoboWare to develop ROS robots quickly.

Video

Abstract

RoboWare is a development kit specifically designed for ROS. It provides an integrated development environment, which has general purpose IDE functions? code editing, building and debugging; It fully supports ROS, including the creation and management of workspace, packages, libraries, nodes, msg/srv/action/launch/yaml/urdf files, etc. RoboWare supports "POD (Product Oriented Design)" development, it has a graphical designer for robot hardware architecture, the design diagram can be automatically exported as a ROS workspace for further development. It also provides a GUI development framework, which has plenty of robot-related controls and is cross-platform

Slides

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ROSCon 2017: ROS2 Fine Tuning -- Jaime Martin Losa (eProsima)

By Tully Foote on June 4, 2018 4:25 PM

Looking foward to ROSCon 2018 we're highlighting presentations from last year. The ROSCon 2018 registration is currently open. As well as the Call for Proposals.

Jaime Martin Losa from eProsima presents on how to optimize the use of FastRTPS to tune ROS2 systems for better performance.

Video

Abstract

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.

Slides

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