ROSCon 2022

System Modes – Model-based Run-time StateManagement of Large Systems
Ralph Lange, Bosch Research
Arne Nordmann, NEURA Robotics

System Modes
Deliberation in robotics is complex
Deliberation (BTs, SMACC2, PlanSys2, …)Three interwoven aspects:
1. Intended tasks
2. Contingencies
3. System-level errors/nav_plan2/diff_drive

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

/camera/left/arm/right/arm

System Modes
Abstractions improve maintenance and extensibility
Deliberation (BTs, SMACC2, PlanSys2, …)
pub/sub, actions, services

Missing abstractions for:
 States and lifecycle

Naming Parameters Diagnostics/nav_plan3/diff_drive

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

/camera/left/arm/right/arm

System Modes
Abstractions improve maintenance and extensibility
Deliberation (BTs, SMACC2, PlanSys2, …)
states, diagnostics, parameters

pub/sub, actions, services

Missing abstractions for:
 States and lifecycle

Naming Parameters Diagnostics/nav_plan4/diff_drive

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

/camera/left/arm/right/arm

System Modes
Abstractions improve maintenance and extensibility
Deliberation (BTs, SMACC2, PlanSys2, …)
states, diagnostics, parameters

pub/sub, actions, services

Missing abstractions for:
 States and lifecycle
 Parameters

System ModesNaming Diagnostics/nav_plan5/diff_drive

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

/camera/left/arm/right/arm

System Modes
Concepts
Unconfigured

1. Modes for lifecycle nodes

ErrorProcessing Parameter value sets

Inactive

ActiveMode 1

6Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Mode 2

Finalized

Mode 3

System Modes
Concepts
Deliberation (BTs, SMACC2, PlanSys2, …)

1. Modes for lifecycle nodes/manipulation

 Preconfigured parameter value sets

2. Hierarchy Recursive grouping of nodes
into (sub-)systems/navigation/arms…

 Same lifecycle as nodes/nav_plan7/diff_drive

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

/camera/left/arm/right/arm

System ModesConcepts
Deliberation (BTs, SMACC2, PlanSys2, …)

1. Modes for lifecycle nodes Same lifecycle as nodes

3. Modes of (sub-)systems
 Mapping to states + modesof their parts
 Inference upwards along
the hierarchy
8Observation

 Recursive grouping of nodes
into (sub-)systems

Inference

2. Hierarchy/navigation

/arms

…

/nav_plan/diff_drive/camera/left/arm/right/arm/nav_plan/diff_drive/camera/left/arm/right/arm

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Inferred mode Preconfigured parameter value sets

Requested mode/manipulation

System Modes
Implementation
Deliberation (BTs, SMACC2, PlanSys2, …)

 Virtual layer implemented bySystem Modes Manager Node9/navigation

/arms

…

/nav_plan/diff_drive/camera/left/arm/right/arm/nav_plan/diff_drive/camera/left/arm/right/arm

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Inferred mode

Inference

SHM FileObservation

 System hierarchy, states, modes,
parameter values are specified
in YAML

Requested mode/manipulation

 No changes to lifecycle node class!

> ros2 launch system_modes mode_manager.launch.py modelfile:=~/my_shm.yaml

10Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

> ros2 launch system_modes mode_manager.launch.py modelfile:=~/my_shm.yaml> ros2 launch system_modes mode_monitor.launch.py modelfile:=~/my_shm.yaml

11

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

System Modes
ExampleDeliberation (BTs, SMACC2, PlanSys2, …)/manipulation/navigation

DEFAULT

Moderate

Performance/nav_plan

inactive

active.Slow

active.Fast/diff_drive

activeactive.Slow

active.Fast

12/arms…

/nav_plan/diff_drive/camera/left/arm/right/arm/nav_plan/diff_drive/camera/left/arm/right/arm

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Ralph Lange (CR/AD CE-RSE) and Arne Nordmann (NEURA Robotics) | 2022-10-20© Robert Bosch GmbH 2020. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

System ModesA. Nordmann, R. Lange, and F. M. Rico:
System Modes – Digestible System(Re-)Configuration for Robotics.
Proc. of 3rd Int'l Workshop on RoSE. 2021.

 github.com/micro-ROS/system_modes

Advanced use-casewith Metacontrol

 Releases: Foxy, Galactic, Humble Work-in-progress – Feedback welcome!
Ralph Lange| ralph.lange@de.bosch.com
Arne Nordmann | arne.nordmann@neura-robotics.com| github.com/ralph-lange| github.com/norro

https://youtu.be/j67xXNIdRkQ