PhaROS: Towards Live Environments in Robotics

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PhaROS Presentation in FOSDEM 2014 (fosdem.org/2014).
http://car.mines-douai.fr/category/pharos

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PhaROS: Towards Live Environments in Robotics

  1. 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. 2. Proposed scenario: shopping
  3. 3. Proposed scenario: shopping
  4. 4. Proposed scenario: shopping
  5. 5. Objective Robots for aiding people to navigate unknown environments. ● Find things (products, people, facilities) ● Find the best way to reach them
  6. 6. 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)
  7. 7. Robot Operative System
  8. 8. ● Robotic middleware + Integration framework ● Imposes Architecture – Nodes – Topics – Services
  9. 9. Why? ● Existing developed software ● Growing community ● Know-how available
  10. 10. Why? ● Live environment ● Constant innovation ● Great programming and debugging tools
  11. 11. So we developed ● Framework for robotic behavior development ● Based on ROS architecture ● High level abstractions ● Abstracted from ROS installation
  12. 12. User Interface Robotic Middleware Robot Controller Third-Party Robotic Software Landmark Sensor Robot
  13. 13. Where does my code run?
  14. 14. Main ROS abstractions
  15. 15. Some implementations cools: Inner nodes
  16. 16. Some implementations cools: Nodelets
  17. 17. Main differences with ROS ● Node – N nodes ● External and internal communication ● Nodelets ● Different packaging
  18. 18. Code distribution – pharos (command tool) ● Installing an existent package – Automatic type deployment – Automatic script generation
  19. 19. Code distribution – pharos (command tool) ● Creating a new package – Archetypes – Generated base code
  20. 20. Turtlesim example pharos@PhaROS:~$ pharos install turtlesim pharos@PhaROS:~$ rosrun arduino pharos handle
  21. 21. Code distribution - command line tool pharos@PhaROS:~$ pharos create-repository Example –output=startup.st ● Then, in your own pharo image pharos@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
  22. 22. What have we done ● StarGazer driver ● Kompai robot driver ● Localization error fixer ● Point localization ● Hinted path planning
  23. 23. Shopping mall demo vad conext 2013 ● http://www.youtube.com/watch?v=CS7hzPWVAm4 Demos in Lab @ Ecole des mines de Douai ● http://www.youtube.com/watch?v=XBrnw9wHIhY
  24. 24. European robotic week @ Ecole des mines de Douai
  25. 25. ● 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

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