Dejanira Araiza-Illan (ROS-Industrial Consortium Asia Pacific)
We present a comparison of different state machine implementations in ROS2, used as tools to program, control and/or monitor industrial equipment such as PLCs and robots. We also present the migration of the PackML ROS-Industrial package from ROS 1 to ROS 2, reflecting on the main challenges and lessons learned. This set of packages was originally built to simulate, visualize and control state machines that follow a template dictated by the Packaging Machine Language (PackML) industry technical standard for discrete processes (ISA-TR88.00.02). An example using an industrial PLC and a robot manipulator is shown to illustrate the functionality of the PackML2 packages.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.