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Studies in Computational Intelligence 1051 Anis Koubaa Editor Robot Operating System (ROS) The Complete Reference (Volume 7) Studies in Computational Intelligence Volume 1051 SeriesEditor JanuszKacprzyk,PolishAcademyofSciences,Warsaw,Poland The series “Studies in Computational Intelligence” (SCI) publishes new develop- mentsandadvancesinthevariousareasofcomputationalintelligence—quicklyand with a high quality. The intent is to cover the theory, applications, and design methods of computational intelligence, as embedded in the fields of engineering, computer science, physics and life sciences, as well as the methodologies behind them. The series contains monographs, lecture notes and edited volumes in computational intelligence spanning the areas of neural networks, connectionist systems, genetic algorithms, evolutionary computation, artificial intelligence, cellular automata, self-organizing systems, soft computing, fuzzy systems, and hybrid intelligent systems. Of particular value to both the contributors and the readership are the short publication timeframe and the world-wide distribution, whichenablebothwideandrapiddisseminationofresearchoutput. IndexedbySCOPUS,DBLP,WTIFrankfurteG,zbMATH,SCImago. AllbookspublishedintheseriesaresubmittedforconsiderationinWebofScience. Anis Koubaa Editor Robot Operating System (ROS) The Complete Reference (Volume 7) Editor AnisKoubaa CollegeofComputerScience andInformationSystems PrinceSultanUniversity Riyadh,SaudiArabia ISSN 1860-949X ISSN 1860-9503 (electronic) StudiesinComputationalIntelligence ISBN 978-3-031-09061-5 ISBN 978-3-031-09062-2 (eBook) https://doi.org/10.1007/978-3-031-09062-2 ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicensetoSpringerNature SwitzerlandAG2023 Thisworkissubjecttocopyright.AllrightsaresolelyandexclusivelylicensedbythePublisher,whether thewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuse ofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,and transmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilar ordissimilarmethodologynowknownorhereafterdeveloped. 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ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Contents ROS2 Micro-ROS ....................................................... 3 KaiwalyaBelsare, AntonioCuadrosRodriguez, PabloGarridoSánchez, JuanjoHierro, TomaszKołcon, RalphLange,IngoLütkebohle,AlexandreMalki,JaimeMartinLosa, FranciscoMelendez, MariaMerlanRodriguez, ArneNordmann, JanStaschulat,andJulianvonMendel ATutorialtoUsetheMediaPipeFrameworkwithROS2 .............. 57 DieissonMartinelli, JonathanCerbaro, MarcoAntonioSimoesTeixeira, JoãoAlbertoFabro, andAndréSchneiderdeOliveira ROSFrameworksandApplications Autonomous 3D Thermal Mapping of Disaster Environments forVictimsDetection .............................................. 83 ChristyanCruzUlloa, GuidoTorresLlerena, AntonioBarrientos, andJaimedelCerro Lab-ScaleSmartFactoryImplementationUsingROS ................. 119 MarwanAbdelattiandManbirSodhi Cooperation,SensingandControl RosDrive: An Open-Source ROS-Based Vehicular Simulator forSTEMControlSystemsClassesTutorial .......................... 147 EnioVasconcelosFilho, JonesYudi, MohamedAbdelkader, AnisKoubaa,andEduardoTovar v vi Contents Autonomous Laser-Induced Breakdown Spectroscopy System forChemicalandMineralogicalDesignationofInterplanetary Materials ......................................................... 177 GeorgeStavrinos,EliasChatzitheodoridis,andOlgaSykioti HighFidelityIMUandWheelEncoderModelsforROSBased AGVSimulations .................................................. 227 EmreOzdemir,HakanGokoglu,M.KorayYilmaz,UmutDumandag, IsmailHakkiSavci,andHalukBayram ROS2 Micro-ROS KaiwalyaBelsare,AntonioCuadrosRodriguez,PabloGarridoSánchez, JuanjoHierro,TomaszKołcon,RalphLange,IngoLütkebohle, AlexandreMalki,JaimeMartinLosa,FranciscoMelendez, MariaMerlanRodriguez,ArneNordmann,JanStaschulat, andJulianvonMendel Abstract The micro-ROS stack (micro.ros.org) integrates microcontrollers seam- lessly with standard ROS 2 and brings all major ROS concepts such as nodes, publisher,subscriptions,parameters,andlifecycleontodeeplyembeddedsystems. This enables accessing all software using the same ROS tools and APIs, regard- less of the underlying computing hardware and operating system. Micro-ROS supports a broad spectrum of microcontroller families and the main open-source real-time operating systems like FreeRTOS, Zepyhr, or NuttX. It supports vari- ousmicrocontroller-orRTOS-specificbuildsystemsandprovidesROS-CLI-based buildtooling.Micro-ROSisanopen-sourceprojectthathasbeenunderdevelopment atgithub.com/micro-ROSsince2018.ItwasinitiatedbytheEU-fundedinnovation activityOFERA.Duringthethelasttwoyears,micro-ROShasbeenadoptedbya relevantgroupofprofessionalusersinsidetheROScommunity.Inthischapter,we giveatechnicalintroductiontothemicro-ROSstackincludingAPIsandarchitecture, Becauseofthelargenumberofauthors,thenameshavebeensortedalphabeticallybysurname. B K.Belsare·R.Lange( )·I.Lütkebohle·A.Nordmann·J.Staschulat RobertBoschGmbH,Robert-Bosch-Campus1,71272Renningen,Germany e-mail:[email protected] K.Belsare e-mail:[email protected] I.Lütkebohle e-mail:[email protected] A.Nordmann e-mail:[email protected] J.Staschulat e-mail:[email protected] A.C.Rodriguez·P.G.Sánchez·J.M.Losa·M.M.Rodriguez eProsima,PlazadelaEncina10-11,Nucleo4,2aPlanta,28760Madrid,TresCantos,Spain e-mail:[email protected] P.G.Sánchez e-mail:[email protected] ©TheAuthor(s),underexclusivelicensetoSpringerNatureSwitzerlandAG2023 3 A.Koubaa(ed.),RobotOperatingSystem(ROS), StudiesinComputationalIntelligence1051, https://doi.org/10.1007/978-3-031-09062-2_2 4 K.Belsareetal. aswellasthecorrespondingmiddlewareMicroXRCE-DDS.Furthermore,tutorials forasimpleapplicationwithanESP32microcontrollerareprovidedtogetherwith areportonthreeuse-casesfromindustrialandresearchapplications. · · · · Keywords ROS2 Microcontroller Micro-ROS Embedded Robotics 1 Introduction The system architecture of a robot generally includes a network of one or more stronger microprocessors and multiple microcontrollers. The microcontrollers are usedforaccessingsensorsandactuators,forlow-latencycontrolfunctions(e.g.,force ortorquecontrolat(cid:2)1kHz),forpowersaving(inparticularinconsumerapplica- tions),andforsafetyfunctions.Microcontrollerstypicallyfeatureabout100kBto 10MBofRAMonlyandusehighlyresource-optimizedreal-timeoperatingsystems (RTOS). Duetotheirrelevanceinroboticapplications,theintegrationofmicrocontrollers has always been an important topic in ROS [1]. The most prominent integration frameworkforclassicalROSisrosserial[2].Itcanbecharacterizedasalightweight protocolforexchangingROSmessagesbetweenaLinux-basedmicroprocessoranda microcontroller,butoffersonlyveryfewotherROSconceptsonthemicrocontroller sidebeyondcommunication.RosserialsupportsArduino-compatibleboards,Mbed- compatibleplatforms,EmbeddedLinux,andvariousotherplatforms. J.M.Losa e-mail:[email protected] M.M.Rodriguez e-mail:[email protected] T.Kołcon·A.Malki ŁukasiewiczResearchNetwork,IndustrialResearchInstituteforAutomationandMeasurements PIAP,Al.Jerozolimskie202,02-486Warsaw,Poland e-mail:[email protected] A.Malki e-mail:[email protected] J.Hierro·F.Melendez FIWAREFoundatione.V.,Franklinstraße13A,10587Berlin,Germany e-mail:juanjose.hierro@fiware.org F.Melendez e-mail:francisco.melendez@fiware.org J.vonMendel BoschRexrothAG,Robert-Bosch-Straße2,71701Schwieberdingen,Germany e-mail:[email protected]