Presentation by Peter Detzner Research Associate, Fraunhofer IML FIWARE Global Summit 21-22 May 2019 - Genoa, Italy

1. FIROS: Helping Robots to be
Context Aware – Part II
Peter Detzner, Dominik Lux
Automation and Embedded Systems
Fraunhofer Institue for Materialflow and Logistics
Dortmund

2. L4MS goal is to help SME’s & Mid-
caps to reduce the installation cost
and time of mobile robots by a
factor of
10

3. OPIL – In a nutshell
Physical Nodes
Software System Layer
Cyber Physical Middleware
IoT NodesLayer1Layer2Layer3
OPIL
Task Planner HMI Sensing & Perception
Context Management
Robot Agent NodeRobot Agent Node Robot Agent NodeRobot Agent NodeHuman Agent Node
Robot Agent NodeRobot Agent NodeSensor Agent Node
Layer0
Robot Agent NodeRobot Agent NodeAGV
Robot Agent NodeRobot Agent NodeHuman
Robot Agent NodeRobot Agent NodeSensor
Robot Agent Node
FIROS FIROS
FIROS
Open
Plattform
Innovation
Logistics

4. Where we left off
Fiware Summit Malaga November 2018
• Not maintened anymore L
• Documentation is lacking
• Response time ~3months
(based upon 1 Issue J)
• What else do we don‘t like
about it?!

5. Where we left off (2)
Fiware Summit Malaga November 2018
• Lack of readability (Nested Entities)
• No standard Data-Types like in JSON
• Based on NGSIv1 API (deprecated in Orion 2.0.0)
• Robot Definitions were included

6. What happened until today
Fiware Summit Genova May 2019
• We forked Ikergunes Firos
• Created ower own GitHub repo at
https://github.com/iml130/firos
• And many other changes

7. What have we done?
• We are using NGSIv2
• Simplified Entities
• Nested
• Ros Definitions
• Delta-Updates
• Reduces Traffic

8. What have we done? (2)
• Refactoring
• Continuous Integration
• (Preliminary Support of Python3)
• Multiple Instances on the same
Machine
• Documentation - https://firos.rtfd.io/

9. What have we done? (3)
• Dockerized
• Easier Configuration
• FiwareObjectConverter@GitHub
• Python Class <> FIWARE NGSIv2
• BASE64 representation (200x200pixel)

11. A Robot System needs a Topology

12. Map Updates
• Continuous scan of the
environment
• Map updates have to be
shared with others
• Map Size > 1MB ?

13. Robot 1
FIROS
Chunked Transfer
MAP
Map Chunk 1
Map Chunk 2
Map Chunk …
Map Chunk n
RAN
Publish

14. Robot 1 Robot 2
Internal WebServer
FIROS
FIROS
WS
URL URL
GET URL
RAN
WS
RANMAP

15. Robot 2
FIROS
RAN
Robot 1
FIROS
URL
RAN
External WebServer
WS
URL
PUTMAP
G
ET
M
AP
MAP

16. Robot 1 Robot 2
Demo (Experimental Setup)
TurtleSim 2TurtleSim 1
FIROS FIROS
ROSCORE ROSCORE

19. Next Steps
• Fiware Generic Enabler Incubater (WIP)
• More Tests for CI
• Dealing with the 1981-LIMITATION of Orion
• Different approaches under evaluation
• Making it available as a ROS package (http://wiki.ros.org/Packages)
• Any FeatureRequests/Problems ? à Pull Requests/ OpenIssues

20. More Information? Get in touch with us
• Fraunhofer IML Website:
• https://www.iml.fraunhofer.de/en.html
• Our Department:
• https://www.iml.fraunhofer.de/en/fields_of_activity/material-flow-
systems/automation_embedded_systems.html
• Fraunhofer IML@GitHub:
• https://github.com/iml130
• https://github.com/iml130/firos

21. L4MS at your
service
H2020 Innovation Action - This project has received funding
from the European Union’s Horizon 2020 research and
innovation programme under grant agreement No 767642
Project Coordinator

22. Thank you!
@L4MS_Eu
L4MS
http://l4ms.eu