ROS 2 System Modes

This repository explores a system modes concept that is implemented for ROS 2 in two packages: * system_modes provides a library for system mode inference, a mode manager, and a mode monitor * system_modes_examples implements a simple example

For further information, please contact Arne Nordmann or Ralph Lange.

Purpose of the Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

How to Build, Test, Install, and Use

To try system modes in your ROS 2 system, two pull request / patches need to be applied to your local ROS 2 installation to add information on the source node to parameter events: * rcl_interfaces pull request 51 (patch) * rclcpp pull request 584 (patch)

After you clone this repository into your ROS 2 src folder and applied these two patches, you may build and install the system_modes package and the system_modes_examples package:
$ colcon build --packages-select-regex system_modes

Have a look at the system_modes_examples documentation to try your installation.

License

ROS 2 System Modes are open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open-source components included in ROS 2 system_modes, see the file 3rd-party-licenses.txt.

Known Issues/Limitations

Please notice the following issues/limitations:

• Currently, this package depends on rcl_interfaces pull request 51 and rclcpp pull request 584.
• Currently, (sub-)systems managed by the mode manager are not recognized by the ros2 lifecycle tool ("Node not found"). So to trigger lifecycle transitions in (sub-)systems, you have to go with the ros2 service call tool. Check the system_modes_examples documentation for example calls.

Acknowledgments

This activity has received funding from the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation programme (grant agreement n° 780785).