The document discusses PhaROS, a framework for robotic behavior development based on the Robot Operating System (ROS) architecture. PhaROS aims to provide high-level abstractions to ROS and make it easier to program robots for tasks like navigation in unknown environments. It introduces concepts like nodes, topics, and services from ROS. PhaROS includes tools like a command line interface for installing, creating, and distributing robot software packages. Examples of implementations using PhaROS include drivers for robots and localization algorithms.

1. Towards Live Environments in
Robotics
Santiago Bragagnolo – FOSDEM – 2014
http://car.mines-douai.fr/PhaROS
santiagobragagnolo@gmail.com
Santiago-pablo.bragagnolo@mines-douai.fr
@sbragagnolo

2. Proposed scenario: shopping

3. Proposed scenario: shopping

4. Proposed scenario: shopping

5. Objective
Robots for aiding people to navigate unknown
environments.
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Find things (products, people, facilities)
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Find the best way to reach them

6. Challenges
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Understand the environment (mapping)
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Define things to track and track them (tagging)
●
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Avoid obstacles (columns, little kids moving
around)
Avoid lots of moving obstacles (crowds)

7. Robot Operative System

8. ●
Robotic middleware + Integration framework
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Imposes Architecture
–
Nodes
–
Topics
–
Services

9. Why?
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Existing developed software
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Growing community
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Know-how available

11. Why?
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Live environment
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Constant innovation
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Great programming and debugging tools

12. So we developed
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Framework for robotic behavior development
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Based on ROS architecture
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High level abstractions
●
Abstracted from ROS installation

13. User
Interface
Robotic Middleware
Robot Controller
Third-Party
Robotic Software
Landmark Sensor
Robot

14. Where does my code run?

15. Main ROS abstractions

16. Some implementations cools: Inner nodes

17. Some implementations cools: Nodelets

18. Main differences with ROS
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Node – N nodes
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External and internal communication
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Nodelets
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Different packaging

19. Code distribution – pharos (command tool)
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Installing an existent package
–
Automatic type deployment
–
Automatic script generation

20. Code distribution – pharos (command tool)
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Creating a new package
–
Archetypes
–
Generated base code

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

22. Code distribution - command line tool
pharos@PhaROS:~$ pharos create-repository Example –output=startup.st
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Then, in your own pharo image
pharos@PhaROS:~$ ./pharo-ui Pharo st startup.st
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Configure your packages in deployUnitsMetadata class method of ExampleDirectory
pharos@PhaROS:~$ pharos register-repository --url=YourRepo --package=ExampleDirectory

23. What have we done
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StarGazer driver
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Kompai robot driver
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Localization error fixer
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Point localization
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Hinted path planning

24. Shopping mall demo vad conext 2013
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http://www.youtube.com/watch?v=CS7hzPWVAm4
Demos in Lab @ Ecole des mines de Douai
●
http://www.youtube.com/watch?v=XBrnw9wHIhY

25. European robotic week
@ Ecole des mines de Douai

26. ●
Live programing brought to robotics
●
ROS Middleware Integration
●
Open source – MIT License
Santiago Bragagnolo – FOSDEM – 2014
http://car.mines-douai.fr/PhaROS
santiagobragagnolo@gmail.com
Santiago-pablo.bragagnolo@mines-douai.fr
@sbragagnolo