EWG 34. Leveraging microROS for Enhanced Communication in Autonomous Agricultural Systems.
This presentation will explore an innovative approach to device communication within complex systems, specifically focusing on using microROS with CAN FD as a transport layer. This method will be compared to prevalent high-level CAN protocols such as J1939 and CANOpen. As a proof of concept, I will demonstrate how this approach has been successfully implemented in the sprayer subsystem of my autonomous agricultural robot.
Summary:
Introduction: A brief overview of my background and experience with microROS and ROS2.
Understanding CAN: A concise explanation of the CAN protocol, its popularity, and its role in device communication.
Comparing Protocols: A comparison of high-level CAN protocols (J1939, CANOpen) with the use of CAN FD as a transport layer for microROS. This section will highlight how microROS can simplify data transmission and interpretation between devices.
Proof of Concept: A demonstration of how this approach has been successfully implemented in the sprayer subsystem of my autonomous agricultural robot.
Current Status and Future Directions: A discussion on the current state of the CAN FD transport, potential improvements, and future prospects.
ROS 2 Package for IIO Devices: If time permits, I will introduce the ROS 2 package I am developing to interface IIO devices in ROS.
Social media:
Twitter: / eprosima
LinkedIn: / epro. .
/ miguelgonrod