Development of Software for Space Applications based on ROS and ROS2

Paper number

IAC-17,D1,3,11,x39739

Author

Mr. Lennart Kryza, Technische Universität Berlin, Germany

Coauthor

Mr. Philipp Wüstenberg, TU Berlin, Germany

Coauthor

Mr. Thomas Meschede, Technische Universität Berlin, Germany

Coauthor

Mr. Tobias Funke, Technische Universität Berlin, Germany

Coauthor

Prof. Klaus Brieß, Technische Universität Berlin, Germany

Year

2017

Abstract

Interconnectedness of various software applications across one or more machines is still a major challenge in the space industry while modern terrestrial machines have already implemented this feature as a key component. Especially the space segment faces architectural restrictions which pose a significant challenge for the implementation of such a middleware.  \\ \noindent
The Robot Operating System (ROS) has been used globally in a wide range of robots for scientific and commercial activities. It provides the possibility to develop interactive and interconnected software applications which communicate with each other using the ROS middleware. The recent development of the ROS2 framework, which is conducted in parallel to the further ongoing ROS project, has the potential of a wide range of space applications.   \\ \noindent
ROS and ROS2 allow individual software units to communicate using different mechanisms. They can exchange data via topics and make use of functions of other programs by calling provided services. The applications for this are promising, as data streams can dynamically be initiated, adjusted and stopped, making it possible to develop software units independently from another. Additionally, industrial standards are used to accomplish this task and the development is backed by a global community. These mechanisms also lay the ground work for intelligent and autonomous space vehicles which require less human supervision.   \\ \noindent
The Chair of Space Technology at the Technische Universität Berlin has started to actively pursue an implementation of ROS/ROS2 software in its satellites and rovers. After an initial use of ROS on the Small Exploration Assistant Rover (SEAR) in the scope of the SpaceBot Cup 2013 and 2015 (organized by the German Aerospace Center), the chair has begun developing a set of core packages for the operation of spacecrafts. These packages are intended to provide an easy starting point for
building customized software for the space segment.   \\ \noindent
This paper introduces the progress made in the development of space software based on ROS/ROS2. Key, easy to use features will be introduced, which represent a minimal software
system for demonstration. Additionally, new methods for using flight software in realistic software-in-the-loop simulations with virtual sensors will be described. The benefits, restrictions, current state and potential future of ROS/ROS2 in space will be discussed as well.

Abstract document

IAC-17,D1,3,11,x39739.brief.pdf

Manuscript document

IAC-17,D1,3,11,x39739.pdf (🔒 authorized access only).

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