OFERA: Open Framework for Embedded Robot Applications

Project Information

OFERA

Grant agreement ID: 780785

DOI

10.3030/780785

Project closed

EC signature date 20 December 2017

Start date 1 January 2018

End date 31 December 2021

Funded under

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

Total cost

€ 3 877 451,43

EU contribution

€ 2 940 920,00

Coordinated by

PROYECTOS Y SISTEMAS DE MANTENIMIENTO SL
Spain

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (51)

Overall Architecture Definition - Final

Specification of the microROS architecture It will be released and revised in 3 different stages The first two will provide guidance for implementation the last release will remain as a reference architecture outcome of the overall project

Annual report on Communication and Dissemination - Y1

Annual report describing main activities performed regarding communication and dissemination.

Micro-ROS Interoperability Report - Y4

MicroROS Interoperability Report

Annual report on Collaboration - Y3

Annual report describing main activities performed regarding collaboration

Sensors micro-ROS use-case release - Extension

Report with a detailed usecase description at M18 and report on the followed approach and the results at M36 including media movies picturesUpdated version at M48 due project extension

Interoperability Report - Y3

MicroROS Interoperability Report

Annual report on Standardization - Y3

Annual report describing main activities performed regarding standardization

Annual report on Standardization - Y2

Annual report describing main activities performed regarding standardization

Report on RTOS scheduling - Initial

Scientific report on RTOS scheduling.

Exploitation Plan - Initial

First release of this deliverable will comprise development of a common SWOT analysis and business canvas, together with the revision of actions and priorities regarding Communication, Dissemination, Collaboration and Standardization activities. Subsequent releases will comprise an update of this deliverable, incorporating individual exploitation plans.

Long-term Maintenance and Evolution Plan - Revised

Preliminary plan for longterm maintenance and evolution of microROS after the end of the project at M18 followed by final plan at M48

Exploitation Plan - Rev Y3

First release of this deliverable will comprise development of a common SWOT analysis and business canvas together with the revision of actions and priorities regarding Communication Dissemination Collaboration and Standardization activities Subsequent releases will comprise an update of this deliverable incorporating individual exploitation plans

Micro-ROS benchmarks - Extension

Preliminary updated and final results will be reported

Report on Platform Support - Extension

Report describing the support activities

Annual report on Standardization - Y1

Annual report describing main activities performed regarding standardization.

Long-term Maintenance and Evolution Plan - Initial

Preliminary plan for long-term maintenance and evolution of micro-ROS after the end of the project at [M18], followed by final plan at [M36].

Sensors micro-ROS use-case release - Final

Report with a detailed usecase description at M18 and report on the followed approach and the results at M36 including media movies pictures

Dronecode micro-ROS use-case release - Extension

Report with a detailed description of the use case at M18 and report on the followed approach and the results at M36 including documented source code of the solutionUpdated version at M48 due project extension

Annual report on Communication and Dissemination - Y2

Annual report describing main activities performed regarding communication and dissemination

Report on the micro-ROS hardware bridges

Scientific report on the default microROS to ROS 2 and microROS to microROS hardware bridges Hardware will be provided to partners upon completion

Annual report on Communication and Dissemination - Y4

Annual report describing main activities performed regarding communication and dissemination

Annual report on Communication and Dissemination - Y3

Annual report describing main activities performed regarding communication and dissemination

Report on Platform Support

Report describing the support activities

Sensors micro-ROS use-case release - Initial

Report with a detailed use-case description at M18 and report on the followed approach and the results at M36, including media (movies, pictures).

Exploitation Plan - Rev Y2

First release of this deliverable will comprise development of a common SWOT analysis and business canvas together with the revision of actions and priorities regarding Communication Dissemination Collaboration and Standardization activities Subsequent releases will comprise an update of this deliverable incorporating individual exploitation plans

Report on RTOS scheduling - Revised

Scientific report on RTOS scheduling

Micro-ROS benchmarks - Initial

Preliminary, updated and final results will be reported.

Overall Architecture Definition - Revised

Specification of the micro-ROS architecture. It will be released and revised in 3 different stages. The first two will provide guidance for implementation, the last release will remain as a reference architecture outcome of the overall project.

Annual report on Collaboration - Y1

Annual report describing main activities performed regarding collaboration.

Dronecode micro-ROS use-case release - Initial

Report with a detailed description of the use case at M18 and report on the followed approach and the results at M36, including documented source code of the solution.

Reference Scenarios and Technical System Requirements Definition

Report containing the functional and performance requirements for the micro-ROS platform from the use cases and expected development scenarios.

Interoperability Report - Y1

Micro-ROS Interoperability Report

Report on model-based optimization of end-to-end latencies

Scientific report on modelbased approach for optimization of endtoend latencies

Micro-ROS benchmarks - Revised

Preliminary updated and final results will be reported

Smart warehouse micro-ROS use-case release - Final

Report with a detailed usecase description at M18 and report on the followed approach and the results at M36 including media movies pictures

Exploitation Plan - Rev Y4

First release of this deliverable will comprise development of a common SWOT analysis and business canvas together with the revision of actions and priorities regarding Communication Dissemination Collaboration and Standardization activities Subsequent releases will comprise an update of this deliverable incorporating individual exploitation plans

Joint use-case with FIWARE context broker release - Extension

Report on the followed approach and the results of the joint usecase including media movies picturesUpdated version at M48 due project extension

Interoperability Report - Y2

MicroROS Interoperability Report

Platform baseline benchmarks

A report on outcomes of Task 5.1, including all the measures and conclusions.

Overall Architecture Definition - Extension

Specification of the microROS architecture Revision corresponding to the extension of the project

Report on the identified OS-independent abstractions for micro-ROS compatibility

Scientific report on the Identification of OS-independent abstractions for micro-ROS compatibility

Dronecode micro-ROS use-case release - Final

Report with a detailed description of the use case at M18 and report on the followed approach and the results at M36 including documented source code of the solution

Overall Architecture Definition - Initial

Specification of the micro-ROS architecture. It will be released and revised in 3 different stages. The first two will provide guidance for implementation, the last release will remain as a reference architecture outcome of the overall project.

Annual report on Collaboration - Y2

Annual report describing main activities performed regarding collaboration

Annual report on Standardization - Y4

Annual report describing main activities performed regarding standardization

Joint use-case with FIWARE context broker release

Report on the followed approach and the results of the joint usecase including media movies pictures

Smart warehouse micro-ROS use-case release - Extension

Report with a detailed usecase description at M18 and report on the followed approach and the results at M36 including media movies picturesUpdated version at M48 due project extension

Annual report on Collaboration - Y4

Annual report describing main activities performed regarding collaboration

Micro-ROS benchmarks - Final

Preliminary updated and final results will be reported

Smart warehouse micro-ROS use-case release - Initial

Report with a detailed use-case description at M18 and report on the followed approach and the results at M36, including media (movies, pictures).

Report on the reference hardware development platforms

Scientific report on the selected on the development hardware platforms including information about its appropriate setup for further work on top of them.

Other (41)

Micro-ROS middleware interface Release - Y2

microROS middleware interface code and docs

Lifecycle and system modes software release - Y3

Release of code and docs as opensource software At M12 with basic capabilities at M24 with realtime integration and basic diagnostics and at M36 with support for extended lifecycle substates

Micro-ROS default simulation environment release - Initial

micro-ROS default RTOS release including potential enhancements to support selected hardware platforms, code and docs.

Micro-ROS client library software release - Y1

Release of code and docs as open-source software. Initial release at M12 and two releases more in M24 and M36

Real-time executor software release - Y4

Release of code and docs as opensource software At M12 with domainspecific scheduling API and at M36 with the selected advanced scheduling and monitoring mechanism

Micro-ROS benchmarking and validation tools Release - Final

Software package will be released to ROS 2 community including wiki pages The beta release will be in M24

Micro-ROS client library software release - Y4

Release of code and docs as opensource software Initial release at M12 and two releases more in M24 and M36 Extension release at M48

Real-time executor software release - Y3

Release of code and docs as opensource software At M12 with domainspecific scheduling API and at M36 with the selected advanced scheduling and monitoring mechanism

Embedded transform (TF) library software release - Y2

Release of code and docs as opensource software At M12 with basic filtering in the agent at M24 with restricted processing and at M36 with userdefinable extensions for efficient execution Realtime capability will be provided throughout

Micro-ROS default RTOS release - Revised

micro-ROS default RTOS release including potential enhancements to support selected hardware platforms, code and docs.

Lifecycle and system modes software release - Y2

Release of code and docs as opensource software At M12 with basic capabilities at M24 with realtime integration and basic diagnostics and at M36 with support for extended lifecycle substates

FIROS2 new Release - Y4

Release of FIROS2 supporting microROS

Real-time executor software release - Y2

Release of code and docs as opensource software At M12 with domainspecific scheduling API and at M36 with the selected advanced scheduling and monitoring mechanism

Micro-ROS middleware interface Release - Y1

micro-ROS middleware interface, code and docs.

Extensions to scheduling mechanisms - Initial

"If necessary, extensions and enhancements to the scheduling mechanisms will be released together with previous deliverable (""Report on RTOS scheduling"")."

Micro-RTPS for ROS Software Release Y1

micro-RTPS new release with the additional features published as open source and fully documented.

FIROS2 new Release - Y3

Release of FIROS2 supporting microROS

Real-time executor software release - Y1

Release of code and docs as open-source software. At M12 with domain-specific scheduling API and at M36 with the selected advanced scheduling and monitoring mechanism.

Micro-ROS benchmarking and validation tools Release - Beta

Software package will be released to ROS 2 community including wiki pages The beta release will be in M24

Lifecycle and system modes software release - Y1

Release of code and docs as open-source software. At M12 with basic capabilities, at M24 with real-time integration and basic diagnostics, and at M36 with support for extended lifecycle substates.

Micro-ROS benchmarking and validation tools Release - Initial

Software package will be released to ROS 2 community including wiki pages The beta release will be in M24

Micro-ROS Agent Release - Y2

MicroROS Agent code and docs

Extensions to scheduling mechanisms - Revised

If necessary extensions and enhancements to the scheduling mechanisms will be released together with previous deliverable Report on RTOS scheduling

Embedded transform (TF) library software release - Y1

Release of code and docs as open-source software. At M12 with basic filtering in the agent, at M24 with restricted processing, and at M36 with user-definable extensions for efficient execution. Real-time capability will be provided throughout.

Embedded transform (TF) library software release - Y3

Release of code and docs as opensource software At M12 with basic filtering in the agent at M24 with restricted processing and at M36 with userdefinable extensions for efficient execution Realtime capability will be provided throughout

Micro-ROS middleware interface Release - Y3

microROS middleware interface code and docs

Micro-ROS Agent Release - Y3

MicroROS Agent code and docs

Micro-ROS default simulation environment release - Revised

microROS default RTOS release including potential enhancements to support selected hardware platforms code and docs

Bridge logic software release - Revised

Connection of microROS to microROSROS 2 software release code and docs

FIROS2 new Release - Y1

Release of FIROS2 supporting micro-ROS

Micro-RTPS for ROS Software Release Y4

microRTPS new release with the additional features published as open source and fully documented

Micro-ROS client library software release - Y3

Release of code and docs as opensource software Initial release at M12 and two releases more in M24 and M36

FIROS2 new Release - Y2

Release of FIROS2 supporting microROS

Micro-ROS client library software release - Y2

Release of code and docs as opensource software Initial release at M12 and two releases more in M24 and M36

Micro-ROS Agent Release - Y4

MicroROS Agent code and docs

Micro-ROS middleware interface Release - Y4

microROS middleware interface code and docs

Micro-RTPS for ROS Software Release Y3

microRTPS new release with the additional features published as open source and fully documented

Micro-RTPS for ROS Software Release Y2

microRTPS new release with the additional features published as open source and fully documented

Bridge logic software release - initial

Connection of micro-ROS to micro-ROS/ROS 2 software release, code and docs.

Micro-ROS default RTOS release - Initial

micro-ROS default RTOS release including potential enhancements to support selected hardware platforms, code and docs.

Micro-ROS Agent Release - Y1

Micro-ROS Agent, code and docs.

Open Research Data Pilot (1)

Data Management Plan

Data Management Plan specifying what data will be open detailing what data the project will generate whether and how it will be exploited or made accessible for verification and reuse and how it will be curated and preservedmicroROS platform benchmarking and evaluation will produce firstdegree data in terms of numerous measures and log files as well as in processed forms of graphs tables and documents All this data will be made available and published alongside the benchmarking software as open source It will also be updated to reflect the most recent state of the platform as the project progresses

Demonstrators, pilots, prototypes (3)

Community Demos

Release of code and docs as opensource software of two more demos

Tracing Tooling for Client Library

Release of code and docs as opensource software

Community Demos Initial

Release of code and docs as opensource software of a first demo

Publications

Conference proceedings (3)

System Modes - Digestible System (Re-)Configuration for Robotics

Author(s): Arne Nordmann; Ralph Lange; Francisco Martín Rico
Published in: RoSE@ICSE, Issue 1, 2021
Publisher: RoSE
DOI: 10.1109/rose52553.2021.00010

“The rclc Executor: Domain-specific deterministic scheduling mechanisms for ROS applications on microcontrollers”

Author(s): Jan Staschulat, Ingo Lütkebohle, and Ralph Lange
Published in: 2020
Publisher: Proceedings of the International Conference on Embedded Software (EMSOFT)

“Response-Time Analysis of ROS 2 Processing Chains under Reservation-Based Scheduling.” In Proc. of 31st Euromicro Conference on Real-Time Systems (ECRTS 2019), Stuttgart, Germany, July 2019.

Author(s): Daniel Casini, Tobias Blass, Ingo Lütkebohle, and Björn B. Brandenburg
Published in: Euromicro Conference on Real-Time Systems (ECRTS 2019), 2019
Publisher: Euromicro Conference on Real-Time Systems (ECRTS 2019)

Other (1)

Budget-based real-time Executor for Micro-ROS

Author(s): Staschulat, Jan; Lange, Ralph; Dasari, Dakshina Narahari
Published in: Issue 2, 2021
Publisher: arXiv

Monographic books (1)

“micro-ROS.” In Robot Operating System (ROS) – The Complete Reference, Vol. 7, Springer, to appear in Aug 2022.

Author(s): Kaiwalya Belsare et al. (i.e. whole OFERA team)
Published in: 2022
Publisher: Springer