Adam Allevato (Open Robotics) Karsten Knese (Bosch)
This talk describes the development of two ROS 2 manipulation pipelines using industrial robots. Within the latest ROS 2 release, beta2, key features such as namespaces, lifecycle nodes and composition allow a control architecture where controllers can be dynamically loaded (on runtime) and managed externally. ROS 2 multi-node executors also allow us to build an low overhead 3D computer vision pipeline. We describe how these concepts are leveraged to control a UR5 industrial robot (Linux) and an ABB YuMi robot (Windows). We investigate the methodology, challenges, and best practices involved in developing these systems in ROS 2.