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ROSCon 2019

Video recordings from ROSCon 2019

roscon.ros.org/2019/

ROSCon 2019 Macau: PackML2: State Machine Based System Programming, Monitoring and Control in ROS2

Dejanira Araiza-Illan (ROS-Industrial Consortium Asia Pacific)

We present a comparison of different state machine implementations in ROS2, used as tools to program, control and/or monitor industrial equipment such as PLCs and robots. We also present the migration of the PackML ROS-Industrial package from ROS 1 to ROS 2, reflecting on the main challenges and lessons learned. This set of packages was originally built to simulate, visualize and control state machines that follow a template dictated by the Packaging Machine Language (PackML) industry technical standard for discrete processes (ISA-TR88.00.02). An example using an industrial PLC and a robot manipulator is shown to illustrate the functionality of the PackML2 packages.

Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.

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