Introduction to Service Robotics Application development with - - PowerPoint PPT Presentation

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Introduction to Service Robotics Application development with - - PowerPoint PPT Presentation

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Introduction to Service Robotics Application development with ludus.russo@gmail.com http://www.hotblackrobotics.com/ http://www.ludusrusso.cc/ 1 Ludovico Russo, Gabriele Ermacora May 2017 Robotics Fields - Industrial Robotics 2 Ludovico

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Introduction to Service Robotics Application development with

ludus.russo@gmail.com http://www.hotblackrobotics.com/ http://www.ludusrusso.cc/

1 Ludovico Russo, Gabriele Ermacora May 2017

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Robotics Fields - Industrial Robotics

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Robotics Fields - Space Exploration

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Robotics Fields - Military Robots

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Robotics Fields - Wearable Robotics

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Robotics Fields - Service Robotics

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HOTBLACK ROBOTICS Cloud Robotics e IoT

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Team / HotBlack Robotics was born during the PhD in TIM JOL CRAB (Connected Robotics Application Lab) and Politecnico di Torino

Ph.D. in Robotics Engineering, focused on Human Robot Interaction and Cloud Services. Ph.D. in Robotics Engineering, expert in Service and Cloud Robotics

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MISSION: Democratize robotics through a cloud platform.

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The cloud platform and the community

S W H W

Sharing of robotics Open Hardware projects and robotic Open Source (Robotic App Store)

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Write a robotic app is easy via cloud

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Dotbot - the first open hardware project programmable by cloud

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Cloud robotics will be the enabler for service robotics

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[Google Autonomous car] You see, a driverless vehicle needs to be able to make a decision in a split

  • second. In order to make that decision, it needs to scan and analyze everything in its local
  • environment. While it is certainly possible to create a computer — housed inside the vehicle — that can

do all these complex calculations, store all the necessary data and handle the analytics side of it, that’s not what you would call efficient. Instead, these vehicles tap into a remote cloud computing network to access boatloads of stored data. This data includes roadmaps, instructions and strategies, visual indicators or identifiers and much more.

e.g Google Car and cloud robotics

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Introduction to ROS

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What is ROS? Robot Operating System

  • Framework for Robot Application

Development

  • OS-like functionalities (meta-operating system)
  • Hardware Abstraction / Drivers
  • Multiprocess Communication
  • Package Management
  • Collection of Libraries, Tools and

Conventions

  • Stacks
  • Packages
  • Ecosystem and Community

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Why ROS?

  • Because creating truly robust,

general-purpose robot software is hard.

  • Provides plug-and-play solutions to common

problems in robotics

  • ROS encourages

collaborative Software Development

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ROS Distribution

  • Versioned set of ROS packages
  • Like a Linux distributions
  • Allows developers to work on a stable codebase
  • Scheduling
  • There is a ROS release every year in May.
  • Releases on even numbered years will be a LTS release, supported

for five years.

  • Releases on odd numbered years are normal ROS releases,

supported for two years.

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ROS release history

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End-of-life 7 distribution C Turtle (2010) -> Hydro (2013) Supported

Indigo Igloo 2014 - 2019 Jade Turtle 2015 - 2017 Kinetic Kame 2016 - 2021 Lunar Loggerhead 2017 - 2019

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Hardware

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The ROS Framework

  • Lives on an Existing OS
  • Supported
  • Ubuntu (ARM)
  • Debian
  • Experimental
  • Mac OS X
  • Others Ubuntu Distro

(Gentoo)

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  • Binded for many languages
  • Compiled in
  • C++
  • Python
  • Wrappers
  • JavaScript
  • Java
  • Matlab
  • ...

Ludovico Russo - May 2017

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The ROS Framework - Communication

  • Multi Machines communication
  • ROS Node
  • A process in a ROS application
  • Communication Patterns
  • Publish/Subscribe
  • Service/Client
  • Actions

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ROS Organization

  • Code
  • Node
  • Library
  • Messages
  • Package
  • Collection of

Nodes/Libraries/Messages

  • Other related data

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  • Metapackage
  • Collection of thematically similar Packages.
  • Bundle together code that is developed

together and is mutually interdependent.

  • Repositories

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ROS Tools

  • Analysis, Debug and Visualization
  • Command Line Tools
  • RVIZ
  • RQT
  • ROS Bag
  • Simulation
  • Gazebo

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ROS Tools - Command Line Tools

  • Main tools to manage ROS
  • Allows to visualize and interact

with a ROS environment from the command line

  • catkin - Compilation suite
  • roscore
  • rosrun/roslaunch
  • rostopic/rosnode
  • rosmsg/rossrv
  • rosmessage/rosservice
  • etc.

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ROS Tools - RVIZ

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3D visualizer for the Robot Operating System (ROS) framework

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ROS Tools - RQT

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GUI tool for data visualization for the Robot Operating System (ROS) framework

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ROS Tools - ROSBag

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Set of tools for recording from and playback ROS stream information

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ROS Tools - Simulators

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How does ROS work?

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ROSGraph Robot Application

An application developed in ROS is a network

  • f processes able to exchange information in

a multi-machine communication network:

  • The ROS Graph
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ROS main components

ROSNode

  • A process in a ROS Application
  • Actual Code when running
  • A node belongs to a package

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ROSMessage

  • Data definition of information that nodes

exchange to communicate

  • A message belongs to a package

ROS Master

  • A special node that initialize a ROS

application and enables communication ROSTopic

  • Main ROS communication
  • A channel through which nodes exchange

async information

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ROS Nodes

A node is a process (a program that is executed) inside a ROS network, that perform a specific task

  • A node is identified by an unique string (name)

in the network.

  • Nodes interact each other by exchanging

messages using topics, services and actions

  • A node can
  • control hardware (drivers)
  • Perform computations
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ROS Topics

Topics are the main communication channels in a ROS network:

  • A topic is identified by an unique string (name)

in the network

  • On each topic, data can be send in a specific

format (Message Type)

  • A node that send data to a topic is called

publisher

  • A node that receives data from a topic is called

subscriber

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ROS Messages and Message Types

Topics exchange data encapsulated in messages.

  • Message Types describes the format of a

message.

  • Each topic has a specific type.
  • Can be simple (bool, int, float, string)
  • Can be complex struct
  • geometry_msgs/Point
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ROS Services

Services are communication channes in a ROS network:

  • A node that send a message on a service is

called as Client

  • A node that receive a message on a service is

called as Server

  • They works like topics, but a service call is

blocking

  • Client waits a response from a server
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ROS Actions

Actions are a complex communication system designed for long executing tasks:

  • Works like services but with a non blocking

system:

  • feedback topic
  • Result topic
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Starting a Node Master

  • roscore is the command to start a ROS master
  • The ROS master must be started before any other node
  • Usage

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$ roscore

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Bring up ros nodes - rosrun

  • rosrun is the command to run a specific node
  • The ROS master must be started before any other node
  • Usage: rosrun <package_name> <node_name> <OPTIONS>

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$ rosrun turtlesim turtlesim_node $ rosrun turtlesim turtle_teleop_key

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Bring up ros nodes - roslaunch

  • rosrun requires a shell per node to

be execute

  • In large project, rosrun is too complex to

be used

  • Roslaunch is a solution to launch

several nodes at the same time

  • Usage: roslaunch <package_name>

<launchfile.launch>

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<launch> <param name="somestring1" value="bar" /> <!-- force to string instead of integer --> <param name="somestring2" value="10" type="str" /> <param name="someinteger1" value="1" type="int" /> <param name="someinteger2" value="2" /> <param name="somefloat1" value="3.14159" type="double" /> <param name="somefloat2" value="3.0" /> <!-- you can set parameters in child namespaces --> <param name="wg/childparam" value="a child namespace parameter" /> <!-- upload the contents of a file to the server --> <param name="configfile" textfile="$(find roslaunch)/example.xml" /> <!-- upload the contents of a file as base64 binary to the server --> <param name="binaryfile" binfile="$(find roslaunch)/example.xml" /> </launch>

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Topics

  • A Topic is a communication channel in ROS
  • Each node can listen or publish on a topic
  • Nodes send messages over a topic
  • Rostopic is a ros command to interact using the terminal with topics
  • rostopic list
  • rostopic echo <topic_name>
  • rostopic pub <topic_name> <message_type> <message>

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$ rostopic echo /turtle1/cmd_vel $ rosrun pub ….

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Message Type

  • A Message Type represents a data type sent over a topic
  • Each topics transfer specific message type information
  • rosmsg allows to get informations about a message type in ROS

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$ rosmsg show geometry_msgs/Twist geometry_msgs/Vector3 linear float64 x float64 y float64 z geometry_msgs/Vector3 angular float64 x float64 y float64 z

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Message Type

ROS defines standard messages to handle common type of communication

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  • std_msgs
  • Int8 - Int16 ..
  • Float8 - Float16
  • String
  • Empty
  • Time
  • Bool
  • Arrays
  • Int8MultiArray
  • ….
  • geometry_msgs
  • Accel
  • Pose
  • Quaternion
  • Twist
  • ...
  • Different version of the same

message that can be stamped and WithCovariance

  • PoseStamped
  • PoseWithCovariaceStamped

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ROS Service/Client

  • Synchronous communication

between nodes

  • A Service is a couple of

messages

  • Request (a message)
  • Response (a message)
  • The Client sends a Request

and waits for a Response from the Server

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$ rosservice list $ rosservice call /kill turtle1 $ rosservice call /reset

  • rosservice is the command line

tool to hand Services

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ROS Service Type

  • Like message Type, a Service

Type are the data type sent over a Service/Client communication

  • rossrv allows to get

informations about a service type in ROS

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$ rossrv show turtlesim/Spawn float32 x float32 y float32 theta string name

  • string name

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ROS Param Server

  • Store and manipulate data

accessible by all nodes

  • ROS Parameter Server
  • rosparam is the command line

tool to access to the rosparam server

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$ rosparam list /background_b /background_g /background_r /rosdistro /roslaunch/uris/host_imacdiludovico_home net_telecomitalia_it__50532 /rosversion /run_id $rosparam set background_g 160

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Example

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ROS Developing - Catkin

  • Catkin is the build system for ROS
  • Catkin allows to
  • Organize packages
  • Build packages
  • Simplify the development of reusable code
  • Developed over Standard Build tools
  • CMake
  • Python-build
  • Allows developer to
  • Create workspace
  • Build Nodes
  • Generate Messages and Services types

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Catkin Workspace

  • A Catking workspace is a workspace

project where code and executables are placed

  • catkin_ws/
  • src/ (all packages code)
  • devel/
  • install/
  • To generate a catking workspace, you

need

  • Create the folder catkin_ws/src/
  • Run the command catking_init_workspace

within catkin_ws/src

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Catkin package

  • A catkin package is placed within

the src folder

  • package/
  • package.xml
  • CMakeLists.txt
  • src/ (c++ Code)
  • msg/ (messages definition)
  • srv/ (services definition)
  • scripts/ (Python code)

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  • package.xml
  • Meta data information about the

package

  • Name, description, version etc...
  • CMakeLists.txt
  • CMake file containing information on

how to build the package

  • catkin_create_pkg <package_name> <deps>

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ROS Useful Packages

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gmapping

  • A state of the art node for 2D

mapping

  • http://wiki.ros.org/gmapping
  • https://www.youtube.com/watch?

v=khSrWtB0Xik

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Navigation metapackage

  • A 2D navigation stack
  • Implement and solves common

problems in Robot Navigation

  • http://wiki.ros.org/navigation

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AMCL

  • Amcl implements a robot

localization algorithm based on particle filtes

  • https://www.youtube.com/watch?

v=xaeUc1-r9rY

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move_base

  • Path planning and following

algorithm

  • http://wiki.ros.org/move_base
  • https://www.youtube.com/watch?

v=QFxTCL-i72A

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MoveIt - Mobile Manipulation

  • Set of tools for mobile

manipulation

  • Simulation
  • Motion planning
  • Control
  • 3D Perception
  • http://moveit.ros.org/
  • https://www.youtube.com/wat

ch?v=vAeEEoxVhAo

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Octomap

  • 3D Mapping Framework
  • Equivalent package to gmapping
  • https://octomap.github.io/
  • https://www.youtube.com/watch?v=JwbZe

gYgxzc

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ROSSerial http://wiki.ros.org/rosserial

  • A protocol for wrapping ROS serialized messages and multiplexing multiple

topics and services over a character device such as a serial port or network socket

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ROS Network Rosserial Node Serial Devices

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ROS Bridge http://wiki.ros.org/rosbridge_suite

  • Rosbridge provides a JSON API to ROS functionality for non-ROS programs.

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ROS Network Rosbridge Server Web APPs

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Robot Web Tools http://robotwebtools.org/

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What you can do with ROS?

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Robot@CED

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https://www.youtube.com/watch?v=HlUB0oHuXrc

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66 Ludovico Russo - June 2016 Ludovico Russo - May 2017

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67 Ludovico Russo - June 2016 Ludovico Russo - May 2017

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https://www.youtube.com/watch?v=EJ5-uBt7rHs

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DotBot

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Examples Using the HotBlack Robotics Cloud Platform

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ROKERS www.rokers.io

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Thank you!

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