H-ROS, the Hardware Robot Operating System, is a collection of hardware and software specifications and implementations that allows creating modular and distributed robot parts. H-ROS heavily relies on the use of ROS 2.0 as robotic development framework. This gives access to a collection of tools modern roboticists require for their daily work.
In addition, we have created an infrastructure that enables to fully exploit the potential of distributed systems and added the state-of-the-art electronic and communication techniques.
These are the technical key-benefits the use of H-ROS brings to robot parts:
Plug & Play: Create robot components that do not require any configuration. Just add or remove hardware parts easily and discover them in your robot network. H-ROS relies on Ethernet communication network to connect robot components.
Interoperable: Using the HRIM information model, a common interface is defined for each type of robot part. This allows using different manufacturers modules seamlessly, not requiring any additional coding to support them.
Extensible: Extend your robot adding new modules dynamically to adapt it to the use case. The robot parts are easily attached thanks to the use of Ethernet connectors.
Reconfigurable: Once the robot detects these new parts, it can adapt its behavior to new tasks. This allows the adaptation of the robot to which robot components it contains, dynamically.
Real-Time: H-ROS uses a Real Time Linux Operating System that allows determinism in the software execution and in the communication exchange. This is achieved using several Time Sensitive Network (TSN) related standards and the use of sub-microsecond synchronized clocks using Precision Time Protocol (PTP).
Security: H-ROS is built with security in mind. It uses encryption and authentication methods when running algorithms and exchanging data. Penetration tests are being performed to identify weaknesses and correct them.
Introspection: Obtain robot part's information and state thanks to the access H-ROS gives. This allows having first hand data at any time using ROS topics.
Automatic updates thanks to OTA: With Over-The-Air updates, the robot part software is updated easily.
This and much more is possible thanks to the H-ROS System on Module (SoM), an electronic device that embeddeds all the required electronics to run modern robotic software and that turns your robot parts into completely modular.