Towards Live Environments in Robotics

Santiago Bragagnolo FOSDEM 2014http://car.mines-douai.fr/PhaROSsantiagobragagnolo@gmail.comSantiago-pablo.bragagnolo@mines-douai.fr@sbragagnolo

Proposed scenario: shopping

Proposed scenario: shopping

Proposed scenario: shopping

Objective

Robots for aiding people to navigate unknown environments.

Find things (products, people, facilities)

Find the best way to reach them

Challenges

Understand the environment (mapping)

Define things to track and track them (tagging)

Avoid obstacles (columns, little kids moving around)

Avoid lots of moving obstacles (crowds)

Robot Operative System

Robotic middleware + Integration framework

Imposes Architecture Nodes

Topics

Services

Why?

Existing developed software

Growing community

Know-how available

Why?

Live environment

Constant innovation

Great programming and debugging tools

So we developed

Framework for robotic behavior development

Based on ROS architecture

High level abstractions

Abstracted from ROS installation

Where does my code run?

Main ROS abstractions

Some implementations cools: Inner nodes

Some implementations cools: Nodelets

Main differences with ROS

Node N nodes

External and internal communication

Nodelets

Different packaging

Code distribution pharos (command tool)

Installing an existent packageAutomatic type deployment

Automatic script generation

Code distribution pharos (command tool)

Creating a new packageArchetypes

Generated base code

Turtlesim example pharos@PhaROS:~$ pharos install turtlesim pharos@PhaROS:~$ rosrun arduino pharos handle

Code distribution - command line tool

pharos@PhaROS:~$ pharos create-repository Example output=startup.stThen, in your own pharo imagepharos@PhaROS:~$ ./pharo-ui Pharo st startup.st

Configure your packages in deployUnitsMetadata class method of ExampleDirectory pharos@PhaROS:~$ pharos register-repository --url=YourRepo --package=ExampleDirectory

What have we done

StarGazer driver

Kompai robot driver

Localization error fixer

Point localization

Hinted path planning

Shopping mall demo vad conext 2013 http://www.youtube.com/watch?v=CS7hzPWVAm4

Demos in Lab @ Ecole des mines de Douaihttp://www.youtube.com/watch?v=XBrnw9wHIhY

European robotic week @ Ecole des mines de Douai

Live programing brought to robotics

ROS Middleware Integration

Open source MIT License

Santiago Bragagnolo FOSDEM 2014http://car.mines-douai.fr/PhaROSsantiagobragagnolo@gmail.comSantiago-pablo.bragagnolo@mines-douai.fr@sbragagnolo

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2/2/14

http://car.mines-douai.fr