ROS-Profinet integration
Frantisek Durovsky
Hi all
My name is Frantisek Durovsky and this summer I will work on ROS-PROFINET wrapper GSoC project. Over the following few months, with Shaun’s mentoring and Siemens Support we will try to integrate communication processor CP1616 into ROS-I system, since we consider this combination a potential gate to various PLCs, HMIs and OPC servers.
We decided for PROFINET as leading Industrial Ethernet standard widely used in factories all around the world. In combination with its flexibility and openness is ideally suited for integration with innovative machine and plant concepts including Linux based PC stations.
We will most probably use SIMATIC S7-1200 during initial phase of project, but of course our goal is to to make the wrapper as universal as possible. Additional details will be provided in rep soon.
If you have any questions, ideas or experience related to this topic, please contribute
Frantisek
Leopold Palomo-Avellaneda
escriure:
>
> My name is Frantisek Durovsky and this summer I will work on ROS-PROFINET
> Support we will try to integrate communication processor CP1616
> g/system-interfacing-pg-pc/cp1616/pages/cp1616.aspx> into ROS-I system,
> and OPC servers.
>
> We decided for PROFINET as leading Industrial Ethernet standard widely used
> in factories all around the world. In combination with its flexibility and
> openness is ideally suited for integration with innovative machine and
> plant concepts including Linux based PC stations.
>
> We will most probably use SIMATIC S7-1200 during initial phase of project,
> but of course our goal is to to make the wrapper as universal as possible.
> Additional details will be provided in rep soon.
>
> If you have any questions, ideas or experience related to this topic,
> please contribute
What does it means?
I don't know if that PCI card has linux driver. I hope so. Or, simple, we can
use any ethercat card to communicate using PROFINET. But, to be framework
agnostic implies:
- develop you code in a library with the minimal requirements: NO ROS
includes, no ROS data types, just standard code
- use some kind of wide build system (CMAKE is a good candidate)
And after you can use your library in any framework and then:
- create your ROS node that use your fantastic library.
Leopold
--
--
Leopold Palomo-Avellaneda <leopold...@upc.edu>
Institut d'Organització i Control de Sistemes Industrials -IOC-
Universitat Politècnica de Catalunya -UPC-
Institute of Industrial and Control Engineering
Technical University of Catalonia
Avda. Diagonal 647, pl. 11
08028 BARCELONA (Spain)
Tel. +34-934016655 (office)
Tel. +34-934017163 (lab)
Fax. +34-934016605
Maxim....@bmw.de
Hi Frantisek,
great idea and surely a very useful thing.
We are currently using a hiltscher card for profinet and linux/ros integration in one of our predevelopment projects.
If you have any questions regarding requirements and so on – just contact me.
Best Regards
Maxim
---
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Maxim Taschew
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Tel.: +49 89-382-53189
Mobile: +49 151-601-53189
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Gijs van der Hoorn
>
>
> Hi all
>
> My name is Frantisek Durovsky and this summer I will work on ROS-PROFINET
> project. Over the following few months, with Shaun’s mentoring and Siemens
> Support we will try to integrate communication processor CP1616
> into ROS-I system, since we consider this combination a potential gate to
> various PLCs, HMIs and OPC servers.
>
> We decided for PROFINET as leading Industrial Ethernet standard widely used
> in factories all around the world. In combination with its flexibility and
> openness is ideally suited for integration with innovative machine and
> plant concepts including Linux based PC stations.
>
> We will most probably use SIMATIC S7-1200 during initial phase of project,
> but of course our goal is to to make the wrapper as universal as possible.
> Additional details will be provided in rep soon.
>
> If you have any questions, ideas or experience related to this topic,
> please contribute
Hi Frantisek,
could you elaborate a bit on what you intend to do specifically? What kind of integration are you envisioning? Is it at the service / capability level (exposing functionality of remote devices on the profinet bus, similar to how ros_canopen works), or at the transport / middleware layer (actually transferring / encapsulating message payload to fieldbus devices)?
Gijs
Frantisek Durovsky
All,
To make this clearer a little bit - Profinet project addresses following two scenarios:
1. 1. How to make ROS-I system part of existing industrial network, or more specifically - how to enable ROS-I system to be controlled by master PLC (to become “IO device” in Profinet terminology) while keeping all benefits of ROS-I – kinematics, trajectory planning, collision avoidance etc.
2. 2. Using ROS-I system as high level control (“IO controller”) of custom industrially driven mechanics (various robots, positioners, etc.).
There are several PCI Profinet devices on the market (Maxim's hiltscher card is one of them), we decided to use Siemens CP1616 in this initial phase of the development due to several reasons:
1. Siemens is a member of ROS-I consortium :)
1. 2. CP1616 is Linux compatible, including driver and IO Base programming interface for integration to C/C++ applications.
2. 3. It provides communication possibilities of both IO Controllers and IO Devices, meaning it can act both as a master and a slave or even master/slave simultaneously.
3. 4. It enables real-time performance for control tasks on the PC and with IRT (isochronous real-time), is ideally suited to time-critical applications which might be very useful for cases in scenario n.2
4. 5. There is a strong support and proper documentation available.
What is this project about?
My goal will be to provide like Gijs mentioned “service/topic capability” so the ROS users will be able to get the basic communication running without need of studying the whole Profinet documentation deeply. ros_canopen package will be a my main guideline definitely.
Frantisek