Common use of BOSCH Clause in Contracts

BOSCH. Bosch has a long history with ROS. As one of the eleven recipients of a PR2 robot in the PR2 Beta Program by ▇▇▇▇▇▇ ▇▇▇▇▇▇,1 researchers at the Bosch Research and Technology Center in California worked with ROS and contributed to ROS from the early beginnings. Today, ROS is used in a number of research and advance development projects at Bosch, from component development to robotics and autonomous driving. The first internal product based on ROS has been the Autobod,2 an autonomous transport platform for the shop floor, presented to the public in 2016. In 2019, the first external product based on ROS has been launched: A Development Starter Kit for Automation (DSKA) by the Bosch Engineering GmbH.3 This open-source activity is exploited to promote Bosch as a modern company active in robotics, acquire talented personnel, and, crucially, by providing building blocks for the community, we increase the quality of freely available components for future product development. Examples of such contributions that are not related to micro-ROS include ● the zero-copy middleware Iceoryx with corresponding ROS 2 middleware adapter (▇▇▇▇▇://▇▇▇▇▇▇▇▇.▇▇▇▇▇▇▇.▇▇▇/proposals/eclipse-iceoryx, ▇▇▇▇▇://▇▇▇▇▇▇.▇▇▇/ros2/rmw_iceoryx), ● hooks in the ROS core layers for tracing with the Linux Trace Toolkit NG (▇▇▇▇▇://▇▇▇▇▇▇.▇▇▇/boschresearch/ros1_tracetools), ● Gazebo plugins and tools for simulating unmanned underwater vehicles (▇▇▇▇▇://▇▇▇▇▇▇.▇▇▇/uuvsimulator), ● a scripting library for procedural scene generation for ▇▇▇▇▇▇ (▇▇▇▇▇://▇▇▇▇▇▇.▇▇▇/boschresearch/pcg_gazebo_pkgs/), and ● an adapter for integrating Functional Mock-up Units according to the FMI Standard with ROS (▇▇▇▇▇://▇▇▇▇▇▇.▇▇▇/boschresearch/fmi_adapter, -_ros2). Furthermore, Bosch has sponsored the development of the ROS 2 core packages by a full-time developer since 2016.4 All of these have been taken up by the community with great interest and lead to greatly increased prominence of Bosch in the robotics domain. The primary goal for micro-ROS has been to reduce the barrier in transfer of software and data between advance development/research and series development. Naturally, the specifics of this depend on the concrete product and business unit. To date, the most relevant and concrete exploitation activity has already been described in Deliverable D6.6. 1 ▇▇▇▇▇://▇▇▇▇▇▇▇▇.▇▇▇▇.▇▇▇/automaton/robotics/robotics-software/the-origin-story-of-ros-the-linux-of-robotics 2 ▇▇▇▇▇://▇▇▇.▇▇▇▇▇▇▇▇▇▇.▇▇/trends-innovationen/bosch-entwickelt-autobod-fuer-die-intralogistik-212.html 3 ▇▇▇▇▇://▇▇▇▇▇▇▇▇▇.▇▇▇▇▇.▇▇▇/web/dska/ 4 ▇▇▇▇▇://▇▇▇.▇▇▇▇▇▇▇▇▇▇▇▇▇.▇▇▇/bosch-research-and-technology-center-joins-forces-with-open- source-robotics-foundation-to-advance-the-development-of-ros/ Beyond this, we have more far-reaching exploitation activities ongoing. These will be detailed with respect to the concrete exploitable outcomes. Outcome 1: The RTOS-based micro-ROS stack. Within Bosch Corporate Research, several other studies have already used micro-ROS for integrating microcontroller-based prototypes within the ROS ecosystem, particularly for exploration of new sensors, remote control of small robots, data acquisition and similar applications. These studies particularly include Master’s theses. Outcome 2: Micro-ROS client library technologies. The modular client library of micro-ROS comes with several technologies that can be exploited independently of the underlying middleware and operating system. On the part of Bosch Corporate Research, we aim at bringing these technologies into relevant business unit projects as reusable software assets and tools:

BOSCH. Bosch has a long history with ROS. As one of the eleven recipients of a PR2 robot in the PR2 Beta Program by ▇▇▇▇▇▇ ▇▇▇▇▇▇,1 researchers at the Bosch Research and Technology Center in California worked with ROS and contributed to ROS from the early beginnings. Today, ROS is used in a number of research and advance development projects at Bosch, from component development to robotics and autonomous driving. The first internal product based on ROS has been the Autobod,2 an autonomous transport platform for the shop floor, presented to the public in 2016. In 2019Recently, the first external product based on ROS has been launched: A Development Starter Kit for Automation (DSKADESKA) by the Bosch Engineering GmbH.3 GmbH3. This open-source activity is exploited to promote Bosch as a modern company active in robotics, acquire talented personnel, and, crucially, by providing building blocks for the community, we increase the quality of freely available components for future product development. Examples Previous examples of such contributions that are not related to micro-ROS include ● the zero-copy middleware Iceoryx with corresponding ROS 2 middleware adapter (▇▇▇▇▇://▇▇▇▇▇▇▇▇.▇▇▇▇▇▇▇.▇▇▇/proposals/eclipse-iceoryx, ▇▇▇▇▇://▇▇▇▇▇▇.▇▇▇/ros2/rmw_iceoryx), ● hooks in the ROS core layers for tracing with the Linux Trace Toolkit NG (▇▇▇▇▇://▇▇▇▇▇▇.▇▇▇/boschresearch/ros1_tracetools), ● Gazebo plugins and tools for simulating unmanned underwater vehicles (▇▇▇▇▇://▇▇▇▇▇▇.▇▇▇/uuvsimulator), ● a scripting library for procedural scene generation for ▇▇▇▇▇▇ (▇▇▇▇▇://▇▇▇▇▇▇.▇▇▇/boschresearch/pcg_gazebo_pkgs/), and ● an adapter for integrating Functional Mock-up Units according to the FMI Standard with ROS (▇▇▇▇▇://▇▇▇▇▇▇.▇▇▇/boschresearch/fmi_adapter, -_ros2). Furthermore, Bosch has sponsored the development of the ROS 2 core packages by a full-time developer since 2016.4 All of these have been taken up by the community with great interest and lead to greatly increased prominence of Bosch in the robotics domain. The primary goal for micro-ROS has been to reduce the barrier in transfer of software and data between advance development/research and series development. Naturally, the specifics of this depend on the concrete product and business unit. To date, the most relevant and concrete exploitation activity has already been described in Deliverable D6.6. 1 ▇▇▇▇▇://▇▇▇▇▇▇▇▇.▇▇▇▇.▇▇▇/automaton/robotics/robotics-software/the-origin-story-of-ros-the-linux-of-robotics 2 ▇▇▇▇▇://▇▇▇.▇▇▇▇▇▇▇▇▇▇.▇▇/trends-innovationen/bosch-entwickelt-autobod-fuer-die-intralogistik-212.html (in German) 3 ▇▇▇▇▇://▇▇▇▇▇▇▇▇▇.▇▇▇▇▇.▇▇▇/web/dska/ 4 ▇▇▇▇▇://▇▇▇.▇▇▇▇▇▇▇▇▇▇▇▇▇.▇▇▇/bosch-research-and-technology-center-joins-forces-with-open- source-robotics-foundation-to-advance-the-development-of-ros/ Beyond this, we deska/ All of these have more far-reaching exploitation activities ongoing. These will be detailed been taken up by the community with respect great interest and lead to the concrete exploitable outcomes. Outcome 1: The RTOS-based micro-ROS stack. Within Bosch Corporate Research, several other studies have already used micro-ROS for integrating microcontroller-based prototypes within the ROS ecosystem, particularly for exploration of new sensors, remote control of small robots, data acquisition and similar applications. These studies particularly include Master’s theses. Outcome 2: Micro-ROS client library technologies. The modular client library of micro-ROS comes with several technologies that can be exploited independently of the underlying middleware and operating system. On the part greatly increased prominence of Bosch Corporate Research, we aim at bringing these technologies into relevant business unit projects as reusable software assets and tools:in the robotics domain.