Component Management inComponent Management in

OMG Meeting, Burlingame, CA, USA, 2012OMG Meeting, Burlingame, CA, USA, 2012OMG Meeting, Burlingame, CA, USA, 2012OMG Meeting, Burlingame, CA, USA, 2012

Component Management in OPRoS

Component Management in OPRoS

SeungwoogSeungwoog Jung(swjung@etri rekr)Jung(swjung@etri rekr)SeungwoogSeungwoog Jung(swjung@etri rekr)Jung(swjung@etri rekr)SeungwoogSeungwoog Jung(swjung@etri.re.kr)Jung(swjung@etri.re.kr)Electronics and Communications Research InstituteElectronics and Communications Research Institute

KOREAKOREA

SeungwoogSeungwoog Jung(swjung@etri.re.kr)Jung(swjung@etri.re.kr)Electronics and Communications Research InstituteElectronics and Communications Research Institute

KOREAKOREAKOREAKOREAKOREAKOREA

robotics/2012-12-13

Contents

Introduction of OPRoS

OPRoS Component Model

OPRoS Component Execution Engine

Conclusion

1

OPRoS : Open Platform for Robotic Services

OPRoS

Robot software platform that provides component-based development and execution environments for robot software

providing the robot software component model, component execution engine, various middleware i d l t t l d i l ti i tservices, development tools, and simulation environment

A DCB Application SW

SW Component

H/WH/WwithwithDLL/SoDLL/So

AlgorithmsAlgorithms

SW Component

H/WH/WwithwithDLL/SoDLL/So

ideasideas

H/WsH/Ws

H/WH/WwithwithDLL/SoDLL/So

OPR S C t E ti E i OPRoS IDEDLL/SoDLL/SoOPRoS Component Execution Engine OPRoS IDE

SLAMNavigation

2HRI

SLAM

Introduction of OPRoS Component Introduction of OPRoS Component

Role of Component Execution Engine

Node 1Node 1 Node 2Node 2High levelHigh levelcontrolcontrol

ComponentA

ComponentB

ComponentD

ComponentE

classical classical controlcontrollooploop

ComponentC

ComponentF

ComponentNew

Component Execution EngineComponent Execution Engine(Lifecycle, (Lifecycle, QoSQoS, Fault Recovery, , Fault Recovery,

Coordination, State ManagementCoordination, State Management …) …)

Component Execution EngineComponent Execution Engine(Lifecycle, (Lifecycle, QoSQoS, Fault Recovery, , Fault Recovery,

Coordination, State ManagementCoordination, State Management …) …)

Communication MiddlewareCommunication Middleware Communication MiddlewareCommunication Middleware

OS OS RTOSRTOSDriverDriver DriverDriver

3

Component Development ProcessApplication PackageApplication Package

atomiccomponent

store

Editing

P filP fil

ComponentEditor

Component

Component Repository

DeployingSimulation &debugging

Robot

ProfileProfileComponentsComponents

packaging pExecutionEngineexploring

Operation

RobotSimulator

packaging

ComponentComposer

Operation

Simulation &debugging

Composing

4robot

application Target robots

OPRoSOPRoS Component ModelComponent Model

Component Communication ModelComponent Communication Model

5

OPRoSOPRoS Component ModelComponent Model

Component Class DiagramComponent Class Diagram

Component

• onInitialize/onReset

• onStart/onStop

1ComponentProfile (XML)

ComponentClassLibrary

*• onError/onRecover

• onExecute/onUpdated

• onEvent

• onPeriodChanged

• onDestroy

Provided PortsInput Ports

Required PortsOutput Ports

• user defined methods

6

Input Ports Output Ports

User defined Component

OPRoSOPRoS Component ModelComponent Model

Service Port

Interface for method invocation of componentInterface for method invocation of component

Service Profile(XML)Service Profile(XML)

Service Port A1

Service Profile(XML)Service Profile(XML)

Service Port A2

Service Port C1

S i P t C3 S i P t D1

Service Port C2

Service Port C3 Service Port D1

- Required Ports : A1, A2, B1, C3Service Port B1

7

- Provided Ports : C1, C2, D1

OPRoSOPRoS Component ModelComponent Model

Data PortData Port

Port for transferring data to components

Data Profile(XML)Data Profile(XML)

DataPort A1

Data Profile(XML)Data Profile(XML)

DataPort A2

DataPort C1

DataPort C2

Output Ports : A1, A2, B1DataPort B1

8

Input Ports : C1, C2DataPort B1

OPRoSOPRoS Component ModelComponent Model

Data PortData Port

asynchronous processingdata processing after queuing

<execution_semantics><priority>5</priority>

Execution<priority>5</priority><type>periodic</type>< period>100</period>

</execution _semantics>

<Component Profile>

Component Execution Engine

9

OPRoSOPRoS Component ModelComponent Model

Event PortEvent Port

Port for transferring event to componentsImmediate processing of data without queuing

Component Execution Engine

10

Component Execution EngineComponent Execution Engine

Component Composer

deploy

register ComponentMonitor

ComponentDeployer

monitor

register

ComponentManager

Component1 Component

3

manage

Component Services

Real-time

Component2

execute

Fault Processing

ExecutorManager

Executor Executor

execute

ComponentExecution Engine

11

Various OS support

Windows, LinuxWindows, Linux

Android, iOS, Mac

OPR SOPRoS

Windows Linux Android iOS MacWindows Linux Android iOS Mac

Kernel 2.6 RTAI/Xenomai Linux on ARM(HBE-SM II-P320 )

12

OPRoS IDE ToolsOpen Source

Motion/

SimulatorComposerEditor

www.ropros.orgwww.ropros.org (LGPL)(LGPL)

Source, Doc, ComponentsSource, Doc, Components

OPRoS FrameworkDevIc

DevIc

Component

/Camera

Sound/Voice

Core Service

Execution

ce

API

ce

API

Demonstations

Component engine

Proximity(Sonar, Laser)

Wheel/

Realtime

Communication

Various OSVarious OS

II Component engineWheel/Actuator

13Linux Android iOSMSWindows

Q & A

Thank you!Thank you!Thank you!Thank you!