ROS Gazebo DARPA Robotics Challenge CloudSim Robot Operating System

Introduction

ROS

Gazebo

DARPA Urban Challenge

DARPA Robotics Challenge

CloudSim

The Robot Operating System ecosystem and
Python
Esteve Fernandez
Open Source Robotics Foundation
esteve@apache.org
esteve@osrfoundation.org

PyBCN, Barcelona, January 16th, 2014

Questions

Introduction

ROS

Gazebo


Introduction
ROS
Gazebo
CloudSim
Questions


CloudSim

Questions

Introduction

ROS

Gazebo



Introduction

How it all started

CloudSim

Questions

Introduction

ROS

Gazebo



Willow Garage

CloudSim

Questions

Introduction

ROS

Gazebo


PR2


CloudSim

Questions

Introduction

ROS

Gazebo



PR2: features

• Two arms with 7 degrees of freedom
• 5 megapixel camera
• Laser range ﬁnder
• Inertial measurement unit
• Two 8-cores processors
• 48 Gb of RAM
• Free software
• Pricetag: $400,000

CloudSim

Questions

Introduction

ROS

Gazebo



CloudSim

Questions

Introduction

ROS

Gazebo



ROS: robots

CloudSim

Questions

Introduction

ROS

Gazebo



CloudSim

Questions

ROS: features

• ROS (Robot Operating System)
• BSD license
• Service-oriented components middleware
• Multiple language support: Python, C++, Java, Ruby and

many others
• Support for a wide range of drivers and robots
• Originally developed by Willow Garage
• Open Source Robotics Foundation now leads the development

of ROS

Introduction

ROS

Gazebo



ROS: example (I)
1

import roslib; roslib.load_manifest(’rospy_tutorials’)

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import rospy
from std_msgs.msg import String

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def talker():
pub = rospy.Publisher(’chatter’, String)
rospy.init_node(’talker’, anonymous=True)
r = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
str = "hello world %s"%rospy.get_time()
rospy.loginfo(str)
pub.publish(str)
r.sleep()

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if __name__ == ’__main__’:
try:
talker()
except rospy.ROSInterruptException: pass

CloudSim

Questions

Introduction

ROS

Gazebo



CloudSim

ROS: example (II)
1

import roslib; roslib.load_manifest(’rospy_tutorials’)

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3
4

import rospy
from std_msgs.msg import String

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def callback(data):
rospy.loginfo(rospy.get_caller_id()+"I heard %s",data.data)

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def listener():
rospy.init_node(’listener’, anonymous=True)

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rospy.Subscriber("chatter", String, callback)

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rospy.spin()

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if __name__ == ’__main__’:
listener()

Questions

Introduction

ROS

Gazebo



CloudSim

Questions

ROS: example (III)
1

#!/usr/bin/env python

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3
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from beginner_tutorials.srv import *
import rospy

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def handle_add_two_ints(req):
print "Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b))
return AddTwoIntsResponse(req.a + req.b)

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def add_two_ints_server():
rospy.init_node(’add_two_ints_server’)
s = rospy.Service(’add_two_ints’, AddTwoInts, handle_add_two_ints)
print "Ready to add two ints."
rospy.spin()

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if __name__ == "__main__":
add_two_ints_server()

Introduction

ROS

Gazebo



CloudSim

Questions

ROS: example (and IV)
1
2
3
4
5

#!/usr/bin/env python
import roslib; roslib.load_manifest(’beginner_tutorials’)
import sys
import rospy
from beginner_tutorials.srv import *

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def add_two_ints_client(x, y):
rospy.wait_for_service(’add_two_ints’)
try:
add_two_ints = rospy.ServiceProxy(’add_two_ints’, AddTwoInts)
resp1 = add_two_ints(x, y)
return resp1.sum
except rospy.ServiceException, e:
print "Service call failed: %s"%e

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if __name__ == "__main__":
x = int(sys.argv[1])
y = int(sys.argv[2])
print "Requesting %s+%s"%(x, y)
print "%s + %s = %s"%(x, y, add_two_ints_client(x, y))

Introduction

ROS

Gazebo



ROS: future

• ROS 2.0 will support more use cases
• Easier multi-robot architecture
• Learn from previous decisions
• Uniﬁcation of the ROS master and nodes protocols
• Reduce code maintenance
• Better integration with other robotics frameworks
• Improve support for embedded devices

CloudSim

Questions

Introduction

ROS

Gazebo



CloudSim

Questions

Gazebo: features

• Apache 2.0 license
• Multi-robot simulator
• Included models: PR2, Turtlebot, iRobot Create, etc.
• Support for several types of sensors
• Pluggable and extendable to add more components and robot

models: REEM, Robonaut, etc.
• Client-server model
• Originally developed by USC and Willow Garage
• Open Source Robotics Foundation now leads the development

of Gazebo

Introduction

ROS

Gazebo



Gazebo: current state

• Gazebo 2.0 just released (current version 2.1)
• Better integration with ROS
• Included improvements made for the DRC

CloudSim

Questions

Introduction

ROS

Gazebo




• Competitions in 2004, 2005 and 2007
• Goal: build a self-driving car
• Teams built their own car and the software
• Winner received $2M

CloudSim

Questions

Introduction

ROS

Gazebo



CloudSim


• Goal: advance in the development of rescue robots (fires,

earthquakes, floods, etc.)
• Teams from all over the world can use a model provided by

DARPA (Atlas) or build their own
• First phase (Virtual Robotics Challenge, June 2013)

completely simulated, 26 qualified for the VRC
• The 7 best VRC competitors received a real Atlas robot and

additional funding from DARPA
• Second phase in Miami (December 2013), with real robots
• Winner will receive $2M (December 2014)

Questions

Introduction

ROS

Gazebo



CloudSim

DARPA Robotics Challenge: tasks

• Drive a utility vehicle at the site
• Travel dismounted across rubble
• Remove debris blocking an entryway
• Open a door and enter a building
• Climb an industrial ladder and traverse an industrial walkway
• Use a tool to break through a concrete panel
• Locate and close a valve near a leaking pipe
• Connect a ﬁre hose to a standpipe and turn on a valve

Questions

Introduction

ROS

Gazebo



CloudSim

CloudSim: features

• Web application to manage robot simulations in the cloud
• Written in Python and Javascript
• Apache 2.0 license
• Support for several clouds: Amazon Web Services, Softlayer

and Openstack
• Integrated with ROS and Gazebo
• Supports deploying several constellations (simulator +

monitor, simulator, etc.)
• Developed by Open Source Robotics Foundation

Questions

Introduction

ROS

Gazebo



CloudSim: use cases

• Educational robotics
• Simulator in the browser
• Robotics competitions

CloudSim

Questions

Introduction

ROS

Gazebo



CloudSim

More information

• ROS http://ros.org
• Gazebo http://gazebosim.org
• CloudSim http://gazebosim.org/wiki/CloudSim
• DARPA Robotics Challenge

http://theroboticschallenge.org
• Boston Dynamics http://bostondynamics.com
• Open Source Robotics Foundation

http://osrfoundation.org
• Willow Garage http://willowgarage.com

Questions

Introduction

ROS

Gazebo



Questions

Thanks for your attention
esteve@osrfoundation.org
esteve@apache.org
Twitter: @esteve

CloudSim

Questions

ROS Gazebo DARPA Robotics Challenge CloudSim Robot Operating System

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