Hardware-Agnostic OPC UA Skill Model

This repository contains the Model.xml files for a generic Hardware-Agnostic OPC UA Skill Model.

Further details on the Model.xml format can be found here: https://opcua.rocks/custom-information-models/

The model is based on the publication:

S. Profanter, A. Breitkreuz, M. Rickert, and A. Knoll, "A Hardware-Agnostic OPC UA Skill Model for Robot Manipulators and Tools," in Proceedings of the IEEE International Conference on Emerging Technologies And Factory Automation (ETFA), Zaragoza, Spain, Sep. 2019

The full-text PDF is available here: https://mediatum.ub.tum.de/1507596

Will this model be supported by the OPC Foundation?

There's currently an official VDMA and OPC Foundation joint working group for a skill concept which can be used inside OPC UA.

Service-Oriented Architectures and real-time Control (SOArc)

We as fortiss are involved in that joint working group with the goal to publish an easy-to-use skill model for any system components.

This repository is a first draft of a possible skill model, which acts as a basis for further improvement inside the working group.

Therefore we are happy for any feedback. Just create a new issue inside this repository, or contact me directly: https://www.fortiss.org/en/about-us/people/stefan-profanter/

How to use

The master branch only contains the *Model.xml files, not the compiled NodeSet2.xml files.

On every push to a branch, an automatic build is executed and the resultin model files are pushed back to the branch 'master-published'.

Have a look at the resulting files here: https://github.com/Pro/opcua-device-skills/tree/master-published/Published

If you like to manually build the files on your machine, follow these steps: (as executed by the automatic build in the .drone.yml file)

This build process is using a pre-built docker container based on the official UA-ModelCompiler source code. There's currently an open pull-request (OPCFoundation/UA-ModelCompiler#36) to add the necessary docker files to the official repository. In the meantime you can use my docker container: sailavid/ua-modelcompiler.

1. Install docker on your machine
2. Clone this repository
3. cd opcua-device-skills
4. Then run the docker container for fortiss_di:

   docker run \
   	  --mount type=bind,source=$(pwd),target=/model/src \
   	  --entrypoint "/app/PublishModel.sh" \
   	  sailavid/ua-modelcompiler \
   	   /model/src/fortiss_di/fortissDiModel fortiss_di /model/src/Published

5. Then fortiss_robotics:

   docker run \
   	  --mount type=bind,source=$(pwd),target=/model/src \
   	  --entrypoint "/app/PublishModel.sh" \
   	  sailavid/ua-modelcompiler \
   	   /model/src/fortiss_robotics/fortissRoboticsModel fortiss_robotics /model/src/Published

6. And kuka_iiwa:

   docker run \
   	  --mount type=bind,source=$(pwd),target=/model/src \
   	  --entrypoint "/app/PublishModel.sh" \
   	  sailavid/ua-modelcompiler \
   	   /model/src/kuka_iiwa/kukaIiwaModel kuka_iiwa /model/src/Published

This will create all the compiled NodeSet2.xml files inside the Published folder. With this command you can also compiler your own model files, just adapt the last line accordingly.