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Virtual Event | September 14 - 15, 2021
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Wednesday, September 15 • 11:05am - 11:35am
ROS2 in PX4: Technical Details of a Seamless Transition to XRCE-DDS and Micro-ROS - Pablo Garrido, eProsima & Nuno Marques, Auterion

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While the task of integrating PX4 into the DDS world has been dealt with by means of the micro-RTPS bridge so far, the present proposal hinges on the need for a more mature, flexible and secure interface with DDS that would be carried out by, first, micro XRCE-DDS, an then by micro-ROS, and can be seen as a natural extension of the work done so far over the micro-RTPS bridge. micro-ROS is a Robot Operating System specifically tailored for embedded and resource-constrained platforms, such as MCUs. It promotes these to the ROS 2 world, and uses as a middleware eProsima Micro XRCE-DDS, that is, DDS for eXtremely Resource-Constrained Environments, a software solution allowing the integration of microcontrollers into the DDS world. As an extension of the last talk at last year's summit, where Nuno and Jaime (eProsima’s CEO) presented a general overview of what would be required to do the migration from the micro-RTPS bridge to micro-ROS, this time, we will now go in-depth on the core concepts and technical details behind the migration from the current micro-RTPS implementation to having a micro-ROS capable PX4 ecosystem. Note: We request that, in case of acceptance, that this call is scheduled to the 15th of September, by impossibility of presenting it Tuesday the 14th.

Speakers
avatar for Pablo Garrido

Pablo Garrido

Technical Lead micro-ROS, eProsima
Pablo Garrido is a Telecommunication Engineer specialized in embedded systems, digital hardware design, and low-level programming. During his professional career, Pablo has been focused on projects related to embedded systems both in firmware and hardware (electrical and mechanical... Read More →
avatar for Nuno Marques

Nuno Marques

SW Engineer, Auterion
Nuno Marques has over 5 years of Software Engineering and Systems Integration experience as a contractor / consultant, recording the participation in over 30 projects and product development for more than 25 companies and organisations in the UAS / drones industry (or using drone... Read More →



Wednesday September 15, 2021 11:05am - 11:35am PDT
Track 1
  Breakout Sessions
  • Presentation Slides Included yes