OFERA: Open Framework for Embedded Robot Applications

Información del proyecto

OFERA

Identificador del acuerdo de subvención: 780785

DOI

10.3030/780785

Proyecto cerrado

Fecha de la firma de la CE 20 Diciembre 2017

Fecha de inicio 1 Enero 2018

Fecha de finalización 31 Diciembre 2021

Financiado con arreglo a

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Coste total

€ 3 877 451,43

Aportación de la UE

€ 2 940 920,00

Coordinado por

PROYECTOS Y SISTEMAS DE MANTENIMIENTO SL
Spain

Periodic Reporting for period 2 - OFERA (OFERA: Open Framework for Embedded Robot Applications)

Período documentado: 2019-07-01 hasta 2021-12-31

Resumen del contexto y de los objetivos generales del proyecto

The project report is addressed in the corresponding deliverables, containing extended information about the progress of the project. Here we will describe the main points briefly.

Micro-ROS is an implementation of the latest version of the Robot Operating System (ROS) for microcontrollers.

It is important for society, as nowadays a robot is a set of sensors and actuators, many of them based on microcontrollers. ROS is the de facto standard robotic framework, and while it has been attempted before, until micro-ROS, there was no good support for microcontrollers.

The main objectives of Micro-ROS are:
a) Create a Platform for seamless integration of resource-constrained devices in the robot ecosystem: micro-ROS
b) Demonstrate the micro-ROS platform with a representative set of Robotic applications
c) Drive the adoption of the Micro-ROS platform.

Trabajo realizado desde el comienzo del proyecto hasta el final del período abarcado por el informe y los principales resultados hasta la fecha

During the 4-year project, the consortia fully accomplished the goals of the project:

a) Micro-ROS was released and demonstrated in many events, and now the consortia is focused on maintaining and upgrading the framework. Micro-ROS has been released for every major release of ROS2 since the ROS 2 Crystal Clemmys (codename ‘crystal’; December 2018), and it is planned to be updated following the ROS 2 releases calendar.

b) The consortia has created a set of 5 demonstrators for different use cases: Drones, Sensors and modular Arms, Autonomous lawnmowers, Smart warehouses, and context information integration. See the corresponding deliverables for more details.

c) During the project the consortia did an intense effort on dissemination, presenting Micro-ROS in the Robotics major events including a very strong presence in the latest ROSCONs, and creating an embedded Working Group within the ROS community with a very good track record of attendees, leading to the creation of a stable Micro-ROS open-source community. Moreover, many important companies have adopted Micro-ROS (Renesas, Robotis, eSOL, Capra Robotics, LG Electronics, HydraSystem or Sideways vehicles…) , and some of them are actively participating in the maintenance of the framework.

A complete list of events and publications can be found in the corresponding deliverable and also on the Micro-ROS website (https://micro-ros.github.io/allposts)

Avances que van más allá del estado de la técnica e impacto potencial esperado (incluida la repercusión socioeconómica y las implicaciones sociales más amplias del proyecto hasta la fecha)

Micro-ROS is the first Robotic framework supporting microcontrollers and compatible with ROS2.

The major changes compared to "regular" ROS 2 is that micro-ROS uses a Real-Time Operating System (RTOS) instead of Linux, and DDS for eXtremely Resource Constrained Environments (DDS-XRCE) instead of classical DDS. Above that, we run the ROS 2 stack! Well, with a few cool improvements for taking advantage of microcontroller-specific details, but largely the same.

Micro-ROS Logo