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Manipulate with MoveIt Like a Pro

Stephanie Eng — Otto by Rockwell Automation
Henning Kayser, Sebastian Jahr — PickNik Robotics

In an increasingly-automated world, robotic manipulation is becoming an ever-more important topic. MoveIt is the most established tool for motion planning for robot manipulators in ROS. But manipulation is more than just motion planning. It includes task planning, perception, real-time control and much more. Going from a problem definition to an actual motion requires integration of various libraries combined with a dedicated runtime logic that enables reactive behaviors and robust error handling. In this workshop, we are going to teach you how to design and implement an architecture to solve complex manipulation tasks with one (or more) robots. You will learn how to make use of existing open-source frameworks like MoveIt and leverage powerful concepts like behavior trees.

Tool Path Planning for Manipulators

Michael Ripperger — ROS-Industrial / Southwest Research Institute

Tool path planning is a critical step in enabling robotic manipulators to perform complex manufacturing tasks, such as surface inspection, painting, sanding, etc. This process becomes increasingly difficult when generating tool paths from surface reconstructions of objects perceived with sensors rather than perfect CAD models. This workshop will teach you how to utilize the ROS-Industrial repository Noether for generating tool paths on arbitrary mesh surfaces. We will experiment with strategies for processing input meshes (e.g., segmentation, smoothing), producing different types of tool paths (e.g., raster, edge), and adding process-specific modifications to tool paths. We will also create custom tool path planner modules to show how the framework can support novel end-user applications. Finally we will explore how the tool path planning components fit into the context of a full robot application through a virtual demo of the ROS-Industrial Scan ‘N Plan system.

Hand-Held Mobile Mapping System for Large Scale Surveys

Janusz Będkowski — Polish Academy of Science
Michał Pełka — Michał Pełka Consulting

We present an open-source software toolbox for large-scale 3D mapping using an open-hardware measurement device. It is dedicated to education, research, surveying, and robotic system deployment. This software is composed of three components: LIDAR odometry, single-session refinement, and multi-session refinement. Data refinement uses a pose-graph loop closure technique and an Iterative Closest Point algorithm to minimize the error of the edge. The toolbox allows performing loop closures in a semi-automatic way. The results are 3D point clouds in LAZ data format (compressed LAS – LIDAR Aerial Survey). We will show how to collect and process ROS bags and ground truth data for ROS-based LIDAR SLAMs benchmarking. We will bring some systems for data collection during the workshop.

Something big is coming in ros2_control: Fun With Controllers

Dr. Denis Stogl — Stogl Robotics Consulting
Bence Magyar — Locus Robotics

If you already know that the ros2_control framework acts as a Kernel for ROS 2 robotics systems you are using but need help with application complexity, then this workshop is for you. The workshop covers the use of ros2_control controllers in products from various industries and shows solutions for all the little issues when running 24/7. You will get a practical overview of concepts like controller chaining – used for cascade control and real-time state estimators; and asynchronous and “side-load” controllers that enable you to run complex calculations without jitter in your control loops. We expect your active involvement!

Hands-on with ROS 2 Deliberation Technologies

Christian Henkel — Bosch Research
Sebastian Castro — The AI Institute
Davide Faconti — Dexory
David Oberacker — FZI Research Center for Information Technology
Prof. David Conner — Christopher Newport University
Matthias Mayr — Lund University & RiACT

The workshop offers hands-on exploration of task planning and behavior modeling within ROS 2. Participants engage in solving robotics problems using various task planning and behavior definition technologies including Behavior Trees, Hierarchical Finite-State Machines, Task Planning, and Verification and Validation. Expert moderators will guide participants through the implementation process, ensuring ample opportunity for understanding and hands-on practice with each technology. The schedule is balanced to allow sufficient time for introductory presentations, hands-on implementation sessions moderated by maintainers of the respective technologies – BehaviorTree.CPP, FlexBE, SkiROS2, and the CONVINCE toolchain – and interactive discussions. This way, attendees will have the chance to compare and contrast the different deliberation technologies, gaining insights into their practical applications and nuances.

Demystifying ROS 2 Networking

Tony Baltovski, Hilary Luo, Luis Camero, & Roni Kreinin — Clearpath Robotics by Rockwell Automation

Join us as we break down ROS 2 networking: How does it work? How do you configure it? How do you troubleshoot it? From foundational networking concepts to advanced robot systems, gain hands-on experience setting up your computer for different configurations and test them out on robots. Get insight into troubleshooting single and multi-robot networks with real case studies. This workshop will focus on the default RMW Implementation, Fast DDS but the information is transferable. Participants require a computer running Ubuntu 22.04 (native or vm) running ROS 2 Humble and must install certain packages (to be announced over email) before arriving. No prerequisite knowledge required of networking but basic Linux and ROS 2 publisher / subscriber experience expected.

Introduction to ROS and Building Robots with Open-Source Software

Geoff Biggs — Open Robotics
Katherine Scott — Intrinsic

This workshop will provide attendees with an introduction to building robots using open-source software, particularly using ROS across various industries and applications, and applying open-source contribution, governance and licensing concepts. Those new to ROS will learn the fundamental concepts through a mixture of talks and hands-on practical exercises. Experienced members of the community will be on-hand to assist attendees with any problems they encounter, and provide answers to questions attendees may have. The workshop will also feature talks on the OSRF’s other projects such as Gazebo, Open-RMF and the Turtlebot.

ROS in medicineRoom: Large Hall 4

Deanna Hood
(Vexev)

Just how is Vexev’s new approach to non-invasive vascular monitoring overcoming the drawbacks of today’s sonography practices? This talk takes you through how our safe & instant 3D vascular scans are made possible by fusing ultrasound imaging with the autonomous robotics algorithms that you’ve come to know and love. Get a behind-the-scenes look into our progress putting the Wave robot directly into dialysis clinics and helping over half a million patients in the USA living with end-stage kidney disease. We’re excitedly on our way to an FDA submission and proud to showcase how the ROS community has helped make it possible!

ROS-powered dogsRoom: Large Hall 4

Tiffany Cappellari
(The AI Institute)

The AI Institute aims to solve the most important and fundamental problems in robotics and AI. Our work incorporates AI, machine learning, control systems, dexterity, mobility, perception, and hardware design, as well as the ethics and societal impact of robotics and AI. This talk will introduce our various open source ROS 2 packages for controlling Boston Dynamics’ Spot, discuss recent changes and improvements to our ROS 2 Spot driver, and show the audience how they can get started with using ROS 2 to communicate with Spot.

Building Humanoid Robots: Mastering Design and Control with ROS

Simulation, visualisation and testing16:10 – 16:30 CEST

Luca Marchionni
(PAL Robotics)

This talk highlights how ROS / ROS 2 can be utilized as middleware for the control stack of humanoid robots, covering high-level strategies to low-level actuators. Our goal is to inspire and guide the community in leveraging ROS for humanoid robots, especially given the surge in interest over the past year. PAL Robotics has successfully used ros_control and ros2_control in our primary control stack for both humanoids and mobile manipulators for over a decade, achieving control frequencies up to 2000Hz. We will share our experiences and insights to help others adopt ROS 2 for advanced humanoid robot development.