System Modes. This is a very generic concept and deemed to be relevant for most robotics systems. The present implementation is even largely independent of ROS but assumes some basic runtime component lifecycle only, which can be found in many component frameworks. The system modes concept reduces the complexity in robotics deliberation significantly and allows the developer of the deliberation layer of a robotic system to focus on the overall platform instead of the many individual software components. On the part of Bosch Corporate Research, the exploitation of this technology is fostered by internal trainings and consulting. In 2019, a first transfer to a business unit project has been prepared. A second will follow in 2020. In addition, this technology is exploited in the Integrated Technical Project (ITP) Metacontrol for ROS 2 (MROS) in the second open call of the EU project RobMoSys, cf. Deliverable D7.5.
System Modes. Essentially, the cruise control system can be in one of the following three modes.
System Modes. System modes extend the activate state of the ROS 2 lifecycle and allow to specify different configurations of nodes and (sub-)systems: • Modes of nodes consist of parameter values. • Modes of (sub-)system) consist of modes of their parts. For example, a node representing an actuator might provide different modes that specify certain maximum speed or maximum torque values. An actuation sub-system, grouping several actua- tor nodes, might provide modes that activate/deactivate certain contained actuator nodes and/or change their modes based on its own modes. Both, the system hierarchy as well as the system modes are specified in a system modes and hierar- chy model file (SHM file, yaml format) that can be parsed by the mode inference mechanism. The SMH file adheres to the following format: {system}: ros parameters: type: system parts: {node} […] modes: DEFAULT : {node}: {state}[.{MODE}] […] {MODE}: {node}: {state}[.{MODE}] […] […] […] {node}: ros parameters: type: node modes: DEFAULT : ros parameters: {parameter}: {value} […] {MODE}: ros parameters: {parameter}: {value} […] […] […] (curly brackets indicate placeholders, square brackets indicate optional parts, ellipses indicate repeatability) The system_modes_examples package shows a simple example consisting of modes for one system and two nodes. The model file of the example can be found here.
System Modes. 2.3.1 Power-off: dual-fault-tolerant inhibits While in the power off/restart mode, the satellite shall have [***] inhibits to the following hazards: • [***] [***] This document is Proprietary to Thales Alenia Space and BlackSky Global. This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space and BlackSky Global. SPCV1 Exhibit B Satellite Technical Specification Revision 3 • [***] • [***] • [***]
System Modes. The parser for the system modes model and the mode inference mechanisms (including the ex- tended lifecycle) are provided in a repository named system_modes, together with two ROS nodes for mode management and mode monitoring. • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/system_modes Package name: system_modes Package path: ./system_modes Fixed bugs: #9, #11, #13, #14, #24, #25, #26, #42, #44, #45 Demo of system modes concept and implementation in same repository: • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/system_modes Package name: system_modes_examples Package path: ./system_modes_examples The system modes package and the system modes example package were bloomed and released for the ROS 2 distributions Dashing, Eloquent, Foxy, and Rolling: • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/system_modes-release Releases: ROS 2 Dashing (0.4.1-1), ROS 2 Eloquent (0.4.1-1), ROS 2 Foxy (0.4.1-1), ROS 2 Rolling (0.4.1-1)
