A ROS2 based communication architecture for control in collaborative and intelligent automation systems

TL;DR

This paper presents a ROS2-based communication architecture tailored for large-scale collaborative automation systems, addressing communication challenges and demonstrating its application in an industrial use-case.

Contribution

It introduces a novel ROS2-based architecture specifically designed for control in collaborative and intelligent automation systems, overcoming distributed communication issues.

Findings

Effective communication in large-scale systems achieved

Successful implementation in an industrial use-case

Enhanced control capabilities demonstrated

Abstract

Collaborative robots are becoming part of intelligent automation systems in modern industry. Development and control of such systems differs from traditional automation methods and consequently leads to new challenges. Thankfully, Robot Operating System (ROS) provides a communication platform and a vast variety of tools and utilities that can aid that development. However, it is hard to use ROS in large-scale automation systems due to communication issues in a distributed setup, hence the development of ROS2. In this paper, a ROS2 based communication architecture is presented together with an industrial use-case of a collaborative and intelligent automation system.