 Thank you, everyone. First of all, I want to say it's very nice to see everyone in real life here after a few years. And I want to give a big thank you to all of you, because 2020 showed us that without you, this is not possible. So a big round of applause for all of you for being here. Okay, so yeah, my name is Marco from the Open Robotics team at Intrinsic. And I want to show you today a story of the robotics world. I wanted to tell this story for, because there's a lot of people that don't belong to the robotics world. So they're not aware of what's been happening there in their industry. And especially, I want to show how open source and free software was a big enabler. And I think it's the main reason that we have been evolving so fast and got us to this point in the robotics world. So this is a small gift. It's a big video on YouTube, but this is a small chunk of it of contributions to the ROSCOR, a visualization of the contributions. And I want to stop here to give a bit of a reflection on open source. I think the humanity grows as we collaborate together. So if we think about anything that we have, we could have not done it without the help of others, right? From a t-shirt to like a pen or computers, like very, anything, right? And I think through time, we have found different ways of collaborating together, like enterprises, countries, like there's many, many forms of collaboration, right? But they still post boundaries to this collaboration. Like if you have an enterprise, you have to collaborate within the enterprise. If you have a country, you're not allowed to collaborate, or it's very hard to collaborate with all the countries, many, many of these barriers. And I think force is bringing another dimension to this. So when we bring force to humanity, we're able to break these barriers and boost collaboration further from these boundaries. And this is a story of how that happened in the robotics world and how that helped really boost the development. So there's three main softwares that I want to talk about. So the biggest one is ROS, which is the main framework that we use in robotics. The second one is Gazevo, which is focused in simulation for robotics, because without simulation, robotics would not be possible. And the third one is Open Other Math, which is a multi-robot platform that we're starting to develop. And it's actually getting a big traction. And it's very relevant here today because Singapore is actually leading the adoption and the development of these software. All right. So a bit about ROS. So the problem with robotics back in the day was that in every single lab, so robotics had a story of where it was mostly developed on robotics labs, institutes, research and all that. And then suddenly towards the last few years it's been moving towards the industry, right? So there's more industry, there's a bit less research. So at the time it was mostly research labs and then there was a lot of reinventing the wheel. Like you come up, you have to build a robot, you have to start from the scratch, you have to build this component, even though if your specialty is just perception, so you have to build every single thing from scratch, right? And that would lead to a lot of teams just focusing on one part and then not even developing the rest. So there was very, very few research teams that would have like an entire robot function. They would say, no, but I have this perception part, then I write my paper and that's all. But the robot is never working. So there was very, very hard to get like ready, like a full solution ready, right? So there was this, I would say company, part company, part research lab called Weed O'Garage that was started in Silicon Valley and they started this PR2 program with this robot and then they created a software for it that it was called ROS. And then they sent it to a bunch of robotics lab around the world and then they started spreading the software. It was open source and then all these research labs started doing the state of the art research on this and then this got published online and then suddenly you could just use the software and then put it on your robot and it was just run. And then you could do your research on top of that, right? So this reinventing the wheel stopped and then we could all share our best contributions and then just improve it on what is our best specialty, right? And then after Weed O'Garage, the open source robotics foundation was created to protect the software and then took over ROS and now is still the owner of these projects. So what is ROS? So ROS gives two four main areas, provides four main features. The main one is the plumbing which is the one that everyone thinks when they think about ROS. So basically the plumbing is in robotics, we use this concept of components that talk to each other. So basically ROS will be just that framework. You could think about it like as a communication framework. So basically it's that framework that connects your components to each other, they talk to each other and it allows you to inspect what's going on, to debug and all that. There's a bunch of tools that you can use. That includes the inspection tools that I mentioned, but also like visualization and many other tools that are built by the community. And then also you get like capabilities, like for example, you get the navigation framework. So you can just, you get a robot and then you put the navigation stack and then it's running. Literally you can get a robot working in one afternoon. There's nothing else you need to do. Just install NAFTA and get a NAFTA and it's running. So that is very nice. And there's a whole ecosystem of the community where you can just go to this course, you can go to these community events and everyone's there talking the same language, ready to help and ready to collaborate. So it's been more than 10 years of ROS and this is the initial ROS that was created back at Weelogash and all the distributions that we've been having. But because of the change that I mentioned, switching to industry, ROS has become a bit more like the requirements have become a bit more different and there's more need for the product to be ready to market, security and all these things. So ROS was rewriting at some point and now it's ROS too. So these are the current releases. There's a rolling release that is the main one that we use for updating the packages all the time and then we just reset and make that release out of that. So the next one will be coming in next May, which is not there, it's I don't know. There's many, many, many robots running ROS in like autonomous cars, NASA robots, the picture of the defunct Baxter. But if you go to robots.ros.org, you will see an incredible amount of robots that run ROS. Startups, there's many, many, many startups running ROS. A lot of them, there's so many that we don't even know because we don't even know if ROS is MIT licensed or some of the startups won't even say it. But these are some of them with some data of how they got acquired, how much money they managed to raise and all that. If you go to this, there's also this link that tries to keep track of the robotics companies, the companies that are using ROS. So how do we manage this? Like it's incredible, it's an incredible amount of people working together and incredible. It's a distributed way. So there's many different parts that work. So in robotics, people usually the problem is so big that people usually specialize on something. So you might be the guy on perception, you might be the guy on navigation, you might be the guy on control, right? So what we do is we have this place called this course, where we all is basically a forum, we just post things there. And it's the main way of communicating stuff. And then there's working groups. So usually, when you want to create a working group, you post it on this course, you say, hey, I want to be working on this. And then you just start working on that thing. And you start making a meeting and then people start joining. And then you start doing your stuff for ROS, you create your repost, and then share community. And then there's a more, a bit more structured part on top of that, which is called the technical steering committee, which is the certain requirements that you need to meet. But once you meet them, you can join. And these are the current companies that are part of the steering committee. And they basically get together and decide what is going to be the next things to do for each working group, what is the main, the main important things that ROS needs to move forward. There's a ROS2 logo at the bottom. That means there's three slots in the steering committee for community members. So there's three community members that are elected. And they're also part of this steering committee. All right. So, Gasebo. I want to talk about the simulation a little bit. I'm not going to stop too much. But basically, Gasebo is a collection of libraries that you can use independently because they have their own value. But when you use them together, they become a robotic simulator. And the reason that it really goes well with ROS and it was meant to be working so well with ROS is because you basically can just use the same software in the simulation and in the robot. So you talk to the simulation from ROS and then the same way you talk to the simulation, you can talk to your own robot. You have to change the very minimal changes and then everything should be working. So that saves a lot of time in robotics where hardware problems can be a major issue when you're running tests. These are some of the distributions from ROS, from Gasebo. And now I'm going to go over the robotics video where framework happening here in Singapore. So these frameworks started as a problem that was happening here at Changi General Hospital, which is they had one fleet of robot and they wanted to start another one from another vendor. So that brings a lot of problems because the robots don't talk to each other. The robots might have their own needs, like they need a certain line. They cannot share highways. They cannot share elevators and infrastructure. So then they basically called open robotics and they said, hey, can you help us build a solution for this and make it open source so everyone in Singapore can benefit from it. And then we can also collaborate and make it freely available. So what did open robotics build? There's a solution now that allows you to manage these robots all together. You can integrate your feed of robots with RMF. And then you can do task planning and allocation. There's a dashboard where you can select which tasks you need to do. And then robots will be selected to perform the tasks. It can manage your fleet traffic. So if there's these problems with the robots that they find each other in paths, then it can then conflict this traffic. It integrates with the infrastructure. So we have adapters for doors and lifts and the work cells, which are basically dispensers, robots that will, this is an example of dispensing a bottle can of Milo to a robot. There's a bunch of tools that can with it. So you get a traffic editor, which is basically a way to design the floor that allows you to generate a simulation wall. And it also allows you to generate the nav graph that you can use for the robots navigation. It has the core, which is the one that takes part on this task allocation, the conflicting traffic and all that. And it has a dashboard. This picture is not updated, but it is something like that where you can basically select what tasks the robots need to do and when they need to do it. There's many open source assets that had been publicly made publicly available. So you can find them on app. These are all the companies in Singapore that are part of this collaboration that are somehow also taking part. You can see Changi Airport, GovTech, CGH, many, many, many people working together. So if you're interested, where to start? There's a bunch of ROS links here. If you want to get started with ROS, same for Gazebo, same for OpenRMF. Basically, you get the website, you get some place to ask questions, and then you get some place to discuss, like usually discourse and a bunch of GitHub repos. So there's so many community events. Roscon is the main one. So we run Roscon once a year. And the last two years it's been online, but we're hoping to get a new one. We did the last year in Japan. Sorry, that was the last year. So we're hoping to get a new one. So we're hoping to get a new one in real life. And the next one coming in New Orleans. And there's also many other events that happen around the world. Not only Roscon, there's the local community events. And I wanted to announce that the ROS meetup Singapore is back. And we're doing it as part of the robotics track here . If you guys want to attend, we're giving a very, very basic introduction to ROS for everyone that doesn't know anything about ROS and still wants to get started into the robotics world and wants to know what is this ROS about. I'll be introduction from zero and the rest, so you can attend the rest and still understand what's going on. And yeah, thank you very much. I hope our team will be able to make some better robots than this. Yes. Thank you.