How to Develop FIWARE NGSI Interfaces for Robots - 6th May 2020 Corresponding webinar recording: https://youtu.be/m5JWxlMMuqk This webinar will present different alternatives to develop FIWARE-Ready robots and the main FIWARE components that can facilitate/empower these developments. Chapter: Robotics Difficulty: 3 Audience: Technical Domain Specific Presenter: Francisco Meléndez (Senior Technical Evangelist, FIWARE Foundation)

1. How to Develop
FIWARE NGSI Interfaces for Robots
FIWARE Wednesday Webinars (May 6th, 2020)
Francisco Meléndez, Technical Expert and Evangelist (francisco.melendez@fiware.org)
FIWARE Foundation

2. Agenda
▪ Introduction
• Some Robot Types
• Digital Twin Concepts
▪ Development of FIWARE NGSI Robotics Interfaces
• ROS Interfaces
• ROS2 Interfaces
• OPC-UA Interfaces
• DDS Interfaces
▪ Some Use Cases
• Use Case 1: Industrial Robotic Systems for Agile Production
• Use Case 2: Smart Warehousing and Intra-Logistics based on AMRs
• Use Case 3: Putting ROS2 onto Microcontrollers (micro-ROS)
▪ Summary

3. Introduction

4. Some Robot Types
Robotic Arm AMR / AGVs Drones
Base Robotic Platforms

5. ...
PalletizerRobotic Arm
Welding system
Robot FleetAMR / AGVs Drones Hybrid Platforms
Base Robotic Platforms
Some Robot Types

6. ...
PalletizerRobotic Arm
Welding system
Robot FleetAMR / AGVs Drones Hybrid Platforms
Base Robotic Platforms
Distributed Robotic Platform
Some Robot Types

7. The Concept of Digital Twin in Robotic Applications
Use Case

8. The Concept of Digital Twin in Robotic Applications
Palletizer
Use Case

9. The Concept of Digital Twin in Robotic Applications
Palletizer
Low-Level Robotics Operating System, Real-time Controller,
High-performance Middleware
Use Case

10. VR/AR
Simulations
HMI
Low-Level Robotics Operating System, Real-time Controller,
High-performance Middleware
Palletizer
The Concept of Digital Twin in Robotic Applications
Use Case

11. Digital Twin in Robotic Applications
VR/AR
Simulations
HMI
Additional
Features
(Digital Twin)
Low-Level Robotics Operating System, Real-time Controller,
High-performance Middleware
Palletizer
Enhanced
Robotic
System

12. Enhanced
Robotic
System
Digital Twin in Robotic Applications
VR/AR
Simulations
HMI
Additional
Features
(Digital Twin)
Low-Level Robotics Operating System, Real-time Controller,
High-performance Middleware
Real
Time
API
High Level
API
Palletizer

13. Enhanced
Robotic
System
Digital Twin in Robotic Applications
VR/AR
Simulations
HMI
Additional
Features
(Digital Twin)
Low-Level Robotics Operating System, Real-time Controller,
High-performance Middleware
Real
Time
API
High Level
API
Palletizer

14. Digital Twin Concepts (I)

15. Digital Twin Concepts (II)

16. NGSI-LD and NGSIv2 Specifications
NGSIv2: Starting Point→ https://fiware-tutorials.readthedocs.io/en/latest/getting-started/index.html
NGSI-LD: Starting Point→ https://fiware-tutorials.readthedocs.io/en/latest/linked-data/index.html
Wednesday Webinar is COMING SOON: Introduction to NGSI-LD
● Entities
● CRUD Operations
● Context Providers
● Linked Data
● Relationships & Data Models
● Traversing Linked Data
● Subscriptions and Registrations

17. NGSI Data Models
17
{
"@context": "https://robotics.fiware.org/ld/context",
"id": "urn:ngsi-ld:Robot:Pose:hr4def34t4g",
"type": "Pose",
"position": {
"type": "Property",
"value": {
"type": "3d-point",
"coordinates": {
"x": 13.3986,
"y": 52.5547,
"z": 123.4
}
}
},
"orientation": {
"type": "Property",
"value": {
"type": "Quaternion",
"coordinates": {
"x": 13.3986,
"y": 52.5547,
"z": 123.4,
"w": -7.3
}
}
}
}

18. FIWARE Reference Architecture and Generic Enablers

19. Current Scope of FIWARE NGSI Features
for Robot Digital Twins

20. How to Develop FIWARE NGSI Robotics Interfaces

21. FIWARE Robotics → Base Technologies
OPC UA
IoT Agent
Micro XRCE-DDS
SOSS - FIWARE
(Under Development, preliminary version ready)
Fast RTPS
ORION Context Broker
Smart Solutions Other FIWARE Enablers
FIROS
High Level OS
often proprietary
Powered by FIWARE
Robotic Solution
OPC UA
IoT Agent
Micro XRCE-DDS
SOSS - FIWARE
(Under Development, first version ready)
Fast RTPS
ORION Context Broker
Smart
Applications Other FIWARE Enablers
FIROS
Robotic MW
often proprietary
Digital
Twin layer

22. ROS1 Main Interfaces (Pub/Sub)
FIWARE NGSI High-Level Robotics Interfaces: ROS 1
ORION Context Broker
Topics Services Actions
NGSI API (RESTful binding)
FIROS
NGSI Entities
ROS1 Node(s)
Palletizer
ROS1 Interfaces → FIROS
▪ https://github.com/iml130/firos
▪ https://firos.readthedocs.io/en/latest/ins
tall/turtlesim-example.html

23. ROS2 Main Interfaces (Pub/Sub)
FIWARE NGSI High-Level Robotics Interfaces: ROS2
ORION Context Broker
Topics* Services* Actions*
NGSI API (RESTful binding)
ROS2 Node(s)
SOSS - FIWARE
NGSI Entities
Palletizer
ROS2 Interfaces → SOSS-FIWARE
▪ https://github.com/eProsima/SOSS-FIWARE
▪ https://github.com/eProsima/SOSS-FIWARE/
blob/master/fiware/doc/demo.md

24. FIWARE NGSI High-Level Robotics Interfaces: OPC UA
ServerClient(s)
NGSI API (RESTful binding)
Discovery Subscription Query Node Method
OPC-UA IoT Agent
ORION Context Broker NGSI Entities
OPC-UA Main Interfaces
Palletizer
OPC-UA IoT Agent
▪ https://github.com/Engineering-Research-and-
Development/iotagent-opcua
▪ https://iotagent-opcua.readthedocs.io/en/latest/
opc_ua_agent_tutorial/index.html

25. FIWARE NGSI High-Level Robotics Interfaces: DDS (I)
NGSI API (RESTful binding)
ORION Context Broker NGSI Entities
Palletizer
Fast RTPS
Micro XRCE-DDS
SOSS - FIWARE
DDS Interfaces →
Fast RTPS or Micro XRCE-DDS +
ROS2 + SOSS-FIWARE
▪ https://github.com/Fiware/catalogue/tree/
master/robotics
Microcontrollers →
micro-ROS client(s) +
micro-ROS Agent(s) (ROS2) +
SOSS-FIWARE
▪ https://micro-ros.github.io/

26. Integration Agent:
Middleware,
Agent Logic,
NGSI Mapping
FIWARE NGSI Robotics Interfaces for Real-Time: DDS (II)
NGSI API (RESTful binding)
ORION Context Broker NGSI Entities
Fast RTPS or Micro XRCE-DDS
FIWARE NGSI Agent or
Tailored NGSI Connector
Distributed Robotic Platform
Real-time
Middleware

27. Future Interfaces (native DDS / OPC-UA)
ORION Context Broker
Micro XRCE-DDS
Fast RTPS
NGSI Entities
NGSI API (DDS binding)NGSI API (OPC-UA binding)
Robot Specific
Middleware
and/or
High Level Operating System
Palletizer

28. Robot ...Hybrid PlatformsRobotic Arm AMR / AGVs Drones ......
Future Interfaces (RESTful + OPC-UA + DDS bindings)
OPC UA
IoT Agent
SOSS-FIWARE
Fast RTPS
ORION Context Broker
Smart Solutions Other FIWARE Enablers
FIROS
Robotics
Operating
system
layer
Adaptation
layer
Digital
Twin layer
Application
layer
NGSI API (DDS binding)NGSI API (OPC-UA binding) NGSI API (RESTful binding + raw )
Micro XRCE-DDS

29. Some Use Cases

30. Use Case 1:
Industrial Robotic Systems for Agile Production
ORION
Context
Broker

31. DIH² Application Scenarios
LOWER LEVELS in the IIoT Connectivity StackLOWER LEVELS in the IIoT Connectivity Stack
Interoperability that exploits the
Semantics of Context Data ...
Factory Resources
[Materials (A B C), Workers, Machines, Stations, Lines, ... ]
Output Products and their variability
[ ABC, ACB, CBA ]
Demand and Production Orders
[ Output Product, Lot Size]
Production Plans
[Orders, Schedule, Resources]
Robotized Production Processes
[Process Specifications, Production Graph, Events, Metrics ]
Robot Tasks and Skills
[Primitives, Functions, States, Functional & Quality Params…]
Human Roles in the Floor
Manual & Computer / Machine / Robot aided Processes
● Floor/Device Configuration
● Setup and Maintenance Tasks
● Planning, Coordination and Supervisory Control
● Production and Order Flow Monitoring
● Process Flow Monitoring
● Quality Assurance
● Manual Operations ...
Development of Open, Standardised and Reusable
Agile Production Enablers for Manufacturing SMEs
Robotic Platform API
Agile Production Enablers

32. DIH² Deployments (I)

33. DIH² Deployments (II)
Real-Time
Server

34. Use Case 2:
Smart Warehousing and Intra-Logistics based on AMRs

35. Use Case 3:
micro-ROS puts ROS2 onto microcontrollers
SOSS - FIWARE
ORION Context Broker
Context Aware Applications

36. Use Case 3:
micro-ROS puts ROS2 onto microcontrollers

37. 2nd Webinar on FIWARE Robotics
How to Develop FIWARE NGSI Interfaces: Summary
▪ ROS1 Interfaces → FIROS
▪ https://github.com/iml130/firos
▪ https://firos.readthedocs.io/en/latest/install/turtlesim-example.html
▪ ROS2 Interfaces → SOSS-FIWARE
▪ https://github.com/eProsima/SOSS-FIWARE
▪ https://github.com/eProsima/SOSS-FIWARE/blob/master/fiware/doc/demo.md
▪ OPC-UA Interfaces → OPC-UA IoT Agent
▪ https://github.com/Engineering-Research-and-Development/iotagent-opcua
▪ https://iotagent-opcua.readthedocs.io/en/latest/opc_ua_agent_tutorial/index.html
▪ DDS Interfaces → Fast RTPS or Micro XRCE-DDS + NGSI Agent
▪ https://github.com/Fiware/catalogue/tree/master/robotics
▪ Microcontrollers → micro-ROS client(s) + micro-ROS Agent(s) (ROS2) + SOSS-FIWARE
▪ https://micro-ros.github.io/
▪ Tailored Robot Interface → Native Robot Interface + NGSI Agent/Connector (NGSI RESTful Binding)
▪ Next Interfaces: NGSI-LD raw data streams, DDS & OPC-UA bindings

38. Thank you!
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