Robot Operating System 2 (ROS2)-Based Frameworks for Increasing Robot Autonomy: A Survey

Future challenges in manufacturing will require automation systems with robots that are increasingly autonomous, flexible, and hopefully equipped with learning capabilities. The flexibility of production processes can be increased by using a combination of a flexible human worker and intelligent aut...

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Bibliographic Details
Published inApplied sciences Vol. 13; no. 23; p. 12796
Main Authors Bonci, Andrea, Gaudeni, Francesco, Giannini, Maria Cristina, Longhi, Sauro
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.12.2023
Subjects
Adaptability
Automation
autonomy
Collaboration
collaborative robotics
Flexibility
industrial robotics
Manufacturing
Middleware
Productivity
Robot Operating System (ROS)
Robot Operating System 2 (ROS2)
Robotics
Robotics industry
Robots
Sensors
Software
Statistics
Surveys
Germany
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Summary:Future challenges in manufacturing will require automation systems with robots that are increasingly autonomous, flexible, and hopefully equipped with learning capabilities. The flexibility of production processes can be increased by using a combination of a flexible human worker and intelligent automation systems. The adoption of middleware software such as ROS2, the second generation of the Robot Operating System, can enable robots, automation systems, and humans to work together on tasks that require greater autonomy and flexibility. This paper has a twofold objective. Firstly, it provides an extensive review of existing literature on the features and tools currently provided by ROS2 and its main fields of application, in order to highlight the enabling aspects for the implementation of modular architectures to increase autonomy in industrial operations. Secondly, it shows how this is currently potentially feasible in ROS2 by proposing a possible high-level and modular architecture to increase autonomy in industrial operations. A proof of concept is also provided, where the ROS2-based framework is used to enable a cobot equipped with an external depth camera to perform a flexible pick-and-place task.
ISSN:2076-3417
2076-3417
DOI:10.3390/app132312796