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Siemens Xcelerator Marketplace

SIMATIC ROS Connector - ROSie

ROSie is a command-line-based code generation tool designed to facilitate the integration of ROS 2 with SIMATIC Software PLC connections based on shared memory (RIB). It operates based on a YAML configuration file to generate the required code.

Runtime Overview

⚠️ Disclaimer: The usage of this software for safety-related applications is not intended.

Table of Contents

Requirements

To utilize ROSie there are two systems involved:

  1. Engineering System: Used to run the ROSie generator (e.g., an engineering machine with a Linux operating system).
  2. Runtime System: Used to execute the generated code (e.g., a SIMATIC Industrial OS system with RIB and Software PLC).

1. Engineering System Requirements

Hardware

  • Any x86/x64 based system with at least 1 GB of free disk space

Software (all of the listed)

2. Runtime System Requirements

Hardware (one of the listed)

All of the listed devices have been tested and verified to work with ROSie generated code.
This list is non-exhaustive and other devices might work with ROSie too as long as they fulfil the following software requirements.

Software (all of the listed)

Setup

Detailed setup instructions are available in the setup instructions. The setup process describes the ROSie workspace configuration via a provided installation script.

Usage

Workflow

Once the setup is complete, you can enter the ROSie generator environment by executing:

start-rosie

This command launches the ROSie container. Inside the container, you can use the start-rosie command with the appropriate arguments as described in the command-line interface guide.

Example command using the valid_config_example.yaml file in the input directory (see the ROSie YAML syntax documentation):

rosie -c valid_config_example.yaml

For a detailed walkthrough of the generation process, refer to the detailed usage guide.

Limitations

⚠️ ROSie relies on the Software PLC and RIB as underlying protocol for data exchange, which impose certain limitations on memory usage, data types, and generated source code. These limitations are detailed in the limitations section.

Troubleshooting

For known issues and their resolutions, refer to the troubleshooting section.

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