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Index
• Robotic Sensing Sensor Types and Equipment
Applications
• ROS Overview ROS Organization
How do Nodes talk?
• ROS Drivers for Sensing Equipment Example and Applications
Robotic Sensing
“Branch of robotics science intended to
give robots sensing capabilities, so that robots
are more human-like.”
“Mainly gives robots the ability to see, touch,
hear and move and uses algorithms that
require environmental feedback.”
http://en.wikipedia.org/wiki/Robotic_sensing
Robotic Sensing
Robotic Sensing
Which capabilities should a robot have in
order to interact with its environment?
Primary Human
Senses
Vision
Touch
Hear
Taste
Smell
Robotic Sensing
Other Human
Senses
Balance & Motion
Thermoception
Pain
Time Perception
…
Robotic Sensing
Robotic Sensing
Vision
Touch
Hear
Smell
Robotic Sensing
e.g., color camera, TOF camera,
3D camera, …
e.g., touch sensor, force sensor, gripper…
e.g., microphone, acoustical arrays, …
e.g., gas sensor, alcohol sensor, …
Other Robotic
Senses
Balance & Motion
Chemical Perception
Distance Sensing
…
Robotic Sensing
e.g., odometer, compass,
accelerometer, GPS, …
e.g., humidity sensor, dust sensor, light
sensor, thermal camera …
e.g., laser range finder, ultrasonic sensors,
infrared sensor…
Robotic Sensing
Robotic Sensing - Example
RGB Camera
• Delivers the three basic color
components (red, green, and
blue) on three different wires.
• Used for accurate color image
acquisitions.
• Using cameras, robots may perceive visual information
through computer vision and image processing
algorithms.
Robotic Sensing - Example
Laser Range Finder
• Scans the environment using laser
beams to determine the distance to
objects.
• Used for distance sensing, obstacle
detection, navigation,…
• Robots are able to build 2D representations
of their environment and/or navigate safely
without hitting obstacles.
Robotic Sensing - Example
Microphone
• Acoustic-to-electric sensor that
converts sound into an electrical
signal.
• Microphones may form an array, in
order to enhance speech recognition,
detecting sound sources, etc.
• Robots may localize objects by their sound, interact
with humans, etc. using digital audio signal processing.
Robotic Sensing – Applications
Vision: Optical Flow
http://www.youtube.com/watch?v=V4r2HXGA8jw
Robotic Sensing – Applications
Touch: Object Manipulation
http://www.youtube.com/watch?v=2rd2r2jPWLU
Robotic Sensing – Applications
Hear: Detecting Sound Sources
Robotic Sensing – Applications
Smell: Searching for Odor Sources
http://www.youtube.com/watch?v=Av2fT8iXnqw
Robotic Sensing – Applications
Motion and Range Sensing: Robot Navigation
Robotic Sensing
Sensors should be chosen according to the application
domain and intended robot’s behavior.
Overview
Overview
A popular robot framework
that provides:
• Hardware abstraction
• Low-level device control
• Implementation of commonly-
used functionalities
• Message-passing between
processes
• Package management
Overview
• Peer-to-peer
• Tools-based
• Multi-lingual
• Free
• Open-Source
Command-line Tools
• rosbag
• rosbash
• roscd
• rosclean
• roscore
• rosdep
• rosed
• rosrun
• roscreate-pkg
• roscreate-stack
• rostopic
• roslaunch
• roslocate
• rosmake
• rosmsg
• rosnode
• rospack
• rosparam
• rossrv
• rosservice
• rosstack
Philosophy: Various tools instead of a runtime environment
• Nodes
• Messages
• Services
Groups of packages
Packages
Stacks
Organization
How do Nodes talk?
Node A Node B
Messages
Topic
How do Nodes talk?
Example:
Talker node (1)
Publisher (string message)
How do Nodes talk?
Example:
Talker node (2)
String to publish
(loopwise)
Publishing the
String Message
How do Nodes talk?
Example:
Listener node
Subscriber
(string message)
Callback Function (called
when a new message arrives)
How do Nodes talk?
Example:
Output
How do Nodes talk?
Example:
Output
Sensing in ROS
• After building and developing a robot (or perhaps
buying a new robot):
How can we integrate it in ROS?
Can we add sensors to our robot and easily
access their information?
Yes we can!
Drivers
for Sensing Equipment
Interacting with different sensors
Microsoft Kinect Hokuyo Laser Sick Laser
3D PMD Camcube
Xsens Mti IMU
Mercury5e RFID Reader Arduino Integration BMA Accelerometer
• Expanding robots’ capabilities may be crucial
depending on the application;
• In multi-robot systems you may want to have
heterogeneous teams, where each agent has a
distinct role;
• How difficult is it to add a new sensor to your
robot?
Interacting with different sensors
Drivers
Sensor
ROS
Driver
Other ROS
Nodes
Access to Raw
Readings from the
Sensor
Serial-USB, I2C,
Bluetooth …
ROS Topics or
ROS Services Interpret sensor
data and make it
available for ROS
through an
adequate message
structure Applications that rely
on sensor information
to run properly
Drivers – Example
Wiimote
(Nintendo)
Drivers – Example
Application: Robot Teleoperation
Drivers – Example
http://www.ros.org/wiki/wiimote
ROS Driver for the wiimote, available at:
The wiimote_node (wiimote package, joystick_drivers
stack) exposes the wiimote controller functionalities to
ROS.
Drivers – Example
http://www.ros.org/wiki/wiimote
ROS Driver for the wiimote, available at:
“The package implements a ROS node that uses Bluetooth
to communicate with the Wiimote device, obtaining
accelerometer and gyro data, the state of LEDs, the IR
camera, rumble (vibrator), buttons, joystick, and
battery state. The node additionally enables ROS nodes
to control the Wiimote's LEDs and vibration for feedback to
the human Wiimote operator.”
Drivers – Example
wiimote_node.py
Drivers – Example
wiimote_node.py
Drivers – Example
Application: Robot Teleoperation
http://www.youtube.com/watch?v=WgcGnOoNrBU
Drivers – Example
Application: Robot Teleoperation
Later on…
Microsoft Kinect
Color VGA video camera
3D Depth sensor
Multi-array microphone
Some Applications:
3D scene reconstruction
Gesture Recognition
Detection of sound sources
Later on…
Arduino Uno Open-source electronics prototyping
platform.
The microcontroller is programmed
using the Arduino language (similar to
C/C++) and the Arduino development
environment.
Arduino projects can be stand-alone
or they can communicate with
software running on a computer.
Some Applications: Sense the environment by receiving input from a variety of
sensors, affecting its surroundings by controlling lights, motors,
and other actuators.”
Later on…
Hokuyo URG-04LX-UG01
2D Laser Range Finder
Wide-range (5.6m × 240° FOV).
Accurate (± 30mm)
Angular resolution: approx. 0.35°
(360° / 1024 steps)
Scan Frequency: 10Hz
Some Applications:
Simultaneous Localization and Mapping (SLAM)
Robot Navigation
Object Detection
Later on…
Xsens Mti
Inertial Measurement Unit (IMU)
Output:
• 3D Orientation (360°)
• 3D acceleration
• 3D rate of turn
• 3D magnetic field
Some Applications:
Tracking object position in 3D
Control and stabilization of cameras and robots
Conclusion
• Several available sensing equipment can be
incorporated in a robot, depending on the application,
to improve the robot’s capabilities.
• ROS enables effortless integration of sensors and
robot hardware;
• ROS drivers may interface with ROS tools for data
processing and analysis of the robotic platform;
• ROS tools and software promote code reuse,
hardware abstraction and decrease the development
time;
• Many popular sensors used in robotic applications
are already integrated in ROS (e.g., kinect, hokuyo
and SICK lasers, wiimote, Xsens IMU, …)
• In order to interact a given sensor in ROS, all you
need to do is to expose its functionalities to ROS
through a ROS driver.
Conclusion
Thank You.
Questions?
