Abstract
Developing production-grade robotic applications is a critical component of building a robotic product. However, those techniques, best practices, and patterns are often tribal knowledge, learned on the job, but infrequently documented. This chapter covers some of these topics, such as: how to compile ROS software for a non-native architecture (such as ARM), how to tune a software stack using Quality of Service (QOS) settings, how to build a robust CI system for your packages, how to maintain and release ROS 2 software packages, how to monitor ROS 2 nodes running on a fleet of robots in production? This chapter presents step-by-step tutorials, and workflows adopted by the ROS Tooling Working Group.
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Notes
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Source code: https://github.com/ros-tooling/cross_compile Release: https://pypi.org/project/ros-cross-compile/.
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docker save (https://docs.docker.com/engine/reference/commandline/save/), send the image, and docker load (https://docs.docker.com/engine/reference/commandline/load/) on the other side.
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For development, you may want to try a local insecure registry by using the instructions at https://docs.docker.com/registry/deploying/#run-a-local-registry and https://docs.docker.com/registry/insecure/. Please note that this is not acceptable for production environments, but can be set up very quickly to demonstrate this workflow, and has the benefit of only passing data over the LAN.
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Early versions of the tool performed an emulated build here by installing build tools and sysroot dependencies into the same environment, which has the same result but is slower than true cross-compilation.
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The ROS 2 default communication implementations use DDS, and many of the concepts in ROS 2 closely match with DDS concepts, but there is an intentional abstraction into “ROS 2 concepts.” See this original design article https://design.ros2.org/articles/ros_on_dds.html for the rationale, and the DDS Spec https://www.omg.org/spec/DDS/About-DDS/ for more information about DDS.
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Allaban, A.A., Bonnie, D., Knapp, E., Gokhale, P., Moulard, T. (2021). Developing Production-Grade Applications with ROS 2. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 962. Springer, Cham. https://doi.org/10.1007/978-3-030-75472-3_1
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