[Fiware-robotics] R: FIROS-RCM Specs

[Fernando Herranz]

Hello all,

About Roberto's questions:
    1. We mean ROS services
    2. We don't think FIROS is going to have scalability problems since FIROS is a light process.
    By " ... FIROS instance to control a cloud of robots" we mean that FIROS is being designed with the goal that one instance of FIROS is able to control more than one robot at the same time.

Cheers!



On 15/12/14 14:13, Antonini Roberto wrote:

Hi Fernando,

In attached a new version of PDF, in which we try to collect all the proposals we made about FIROS and RCM interaction.

A couple of question about FIROS:



1.       For "to implement service in FIROS" you mean ROS services, don’t you?

2.       Have you considered scalability issues for FIROS node? What do you mean when you say " ... FIROS instance to control a cloud of robots"?



The Container concept try to meet the non-functional requirement named “scalability”, by modularizing robot and above all making them stateful (SOA paradigm) . e.g. A robot could be placed on whatever virtual machine (IaaS), basing on maybe cloud metrics.

You, at the very beginning, only considered FIROS on each robot (If I remember well), for this, we placed FIROS on each robot whether this was real and virtual (cloned), anyway as we said at the end of the document “It’s not mandatory having a ROS container for each robot”.



BR

Roberto













-----Messaggio originale-----
Da: Fernando Herranz [mailto:fherranz at ikergune.com]
Inviato: venerdì 12 dicembre 2014 12:51
A: Antonini Roberto; Iñigo Gonzalez; Bollano Gianmario; Garino Pierangelo; Angel Hernandez; Jose Jaime Ariza
Cc: fiware-robotics at lists.fi-ware.org<mailto:fiware-robotics at lists.fi-ware.org>; Colombatto Davide
Oggetto: RE: FIROS-RCM Specs



Hi all,



sorry for the delay but we are inthe middle of a demo.

We agree with the way you plan to send the topics list to FIROS but we (Etxe-Tar) should study how to implement services in FIROS.



We also have a doubt, your approach has a FIROS instance per ROS container, right? here is the question: could your architecture support a FIROS instance for all the ROS container? we are developing FIROS to attend all the robots in the cloud. We also think that would help FIWARE application developers because that way they only have to talk to a FIROS instance to control a cloud of robots.



Cheers!

________________________________________

De: Antonini Roberto [roberto1.antonini at telecomitalia.it<mailto:roberto1.antonini at telecomitalia.it>]

Enviado el: viernes, 12 de diciembre de 2014 9:12

Para: Antonini Roberto; Iñigo Gonzalez; Bollano Gianmario; Garino Pierangelo; Fernando Herranz; Angel Hernandez; Jose Jaime Ariza

CC: fiware-robotics at lists.fi-ware.org<mailto:fiware-robotics at lists.fi-ware.org>; Colombatto Davide

Asunto: R: FIROS-RCM Specs



Hi all,

apologize for spam, let me refine the previous proposal and correct some typos I did.

Once the ServiceServer is implemented in RCM Driver node, all you need to do is requesting json info by calling that server with this message server type:



string robot_name

---

string json_format



The server could be ever named /rcm_driver/firos_info.



As you should indicate the robot  name in the request, the process, I proposed yesterday, slightly changes:



·         FIROS and RCM Driver are started by RCM



·         FIROS subscribes /rcm_event topic



·         Robot get connected/disconnected



·         RCM is notified by specific event



·         RCM driver publishes /rcm_event topic reporting that event



·         When FIROS is notified (subscribe callback)



o   If the event is “robot is connected”:  it requests info to /rcm_driver/firos_info for specific robot and creates the entity



o   If the event is “robot is disconnected”: it deletes the entity





Apologize again,

I swear this is the last mail on the proposal. ☺



Roberto



Da: fiware-robotics-bounces at lists.fi-ware.org<mailto:fiware-robotics-bounces at lists.fi-ware.org> [mailto:fiware-robotics-bounces at lists.fi-ware.org] Per conto di Antonini Roberto

Inviato: giovedì 11 dicembre 2014 18:05

A: Iñigo Gonzalez; Bollano Gianmario; Garino Pierangelo; Fernando Herranz; Angel Hernandez; Jose Jaime Ariza

Cc: fiware-robotics at lists.fi-ware.org<mailto:fiware-robotics at lists.fi-ware.org>; Colombatto Davide

Oggetto: [Fiware-robotics] R: FIROS-RCM Specs



Hi all,

just an additional information to what I wrote before.

If I’ve understood well, you need ROS topics in the ROS container FIROS has been launched by RCM , don’t you?

What we can do to meet your req, is creating a ServiceServer on RCM Driver node, who also informs you about ROS Topics in the ROS Container, this obviously requests FIROS to create a ServiceClient to request this information, the message srv could be formatted in this way



---

string json_format



Where json_format is the one you described in your doc.

The server could be named /rcm_driver/firos_info



So the process could be modified adding the bold entry :





·         FIROS and RCM Driver are started by RCM



·         FIROS requests info to /rcm_driver/firos_info



·         FIROS subscribes /rcm_event topic



·         Robot get connected/disconnected



·         RCM is notified by specific event



·         RCM driver publishes /rcm_event topic reporting that event



·         FIROS is notified and



o   If the event is “robot is connected”: it creates the entity



o   If the event is “robot is disconnected”: it deletes the entity





let us know if this could be good for you, in case I complete the doc I sent you before.

Thanks,

Roberto









Da: Antonini Roberto

Inviato: giovedì 11 dicembre 2014 15:33

A: 'Iñigo Gonzalez'; Bollano Gianmario; Garino Pierangelo; Fernando Herranz; Angel Hernandez; Jose Jaime Ariza

Cc: fiware-robotics at lists.fi-ware.org<mailto:fiware-robotics at lists.fi-ware.org>; Colombatto Davide; Gaspardone Marco

Oggetto: R: FIROS-RCM Specs



Hi all,

thanks to you guys, for having shared the FIROS-RCM interaction spec, this give us yet another chance to merge our views in order to reach the final solution.

In the attached PDF, we provide a possible solution to exchange info between FIROS and RCM and clarify the specific role of each component.



to better clarify,  just a couple of comments about your view:



·         RCM doesn’t connect ROS directly, it’s in charge of manage ROS framework as a whole, so it’s not correct placing ROSCORE inside RCM



·         Starting from comments above, each ROS container has a proper ROSCORE and RCM can start ROS nodes (FIROS, ALGs and Drivers) in it.



In the doc we also provide two architectural views:



·         The first one is focused around the GE description, the same you did



·         The second one highlights the GE distribution, when having more instances (robot, vm and so on)



I hope this finally clarifies everything and reaches to a common convergence point.



For what concerns the GE name, I supposed it to be the general name not the name of a GEi, so for this reason I would propose something more general  such as





·         ROBCON



·         CONROB



·         NCRP (network connected robotic platform)



·         …



Without “FI” heading (or trailing) the name, because it seems to us too limitative for describing a general Robotics GE, it could be used to describe the implementation name.

That’s our view.

Thanks again,

Hear you soon.

Roberto and Davide





Da: Iñigo Gonzalez [mailto:igonzalez at ikergune.com]

Inviato: giovedì 11 dicembre 2014 10:30

A: Bollano Gianmario; Antonini Roberto; Garino Pierangelo; Fernando Herranz; Angel Hernandez; Jose Jaime Ariza

Cc: fiware-robotics at lists.fi-ware.org<mailto:fiware-robotics at lists.fi-ware.org>; Colombatto Davide

Oggetto: FIROS-RCM Specs



Hi everyone,



as we said yesterday here you have the documentation of FIROS specs to communicate with RCM.



We think there is a misunderstanding about what we consider interface between FIROS and RCM. Just for the sake of clarification, when we talk about FIROS and RCM interfaces, we talk about the information that they need to share to collaborate, not just about the connectivity proccess.



We know that FIROS and RCM are ROS nodes and they communicate using ROS. However, we not only need the definition of the communication channel. The data that RCM must provide to do a correct integration between FIROS and RCM is:



*   The name of the robots

*   Topics that RCM will provide

*   The message type of each topic

*   If we must subscribe to the topic or publish on it



So we need to know how RCM provides this data.



Attached is a document with the FIROS specifications.



Regards

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