Building Robotics Application at Scale using OpenSource from Zero to Hero
1 like194 views
The document outlines the utilization of open-source tools in building scalable robotics applications through AWS services, focusing on key frameworks like Robot Operating System (ROS) and cloud simulation tools. It covers the robotics development cycle, including simulation, application management, and fleet management while detailing challenges such as software updates and remote operations. The presentation emphasizes the simplicity of building and managing robotic applications with AWS's robust tools and resources.
![ROS launch
- Spawns multiple ROS nodes running in parallel
- Sets parameters in the parameter server
- XML (ROS1), Python (ROS2)
ros2 launch package_name file.launch.py
def generate_launch_description():
return LaunchDescription([
Node(
package="personal_care_pkg",
executable="sub_move_robot.py",
name="move_robot_node"
)
])
Example command:](https://image.slidesharecdn.com/linuxfoundation-roboticsappscalefromzerotohero-210928010419/85/Building-Robotics-Application-at-Scale-using-OpenSource-from-Zero-to-Hero-18-320.jpg)
![ROS Publish / Subscribe Model
Pub
node
Sub
node
Topic
Publish Subscribe
/unexpected_activity
message
frontdoor
/move_robot
: [
x=1,
y=0,
z=0
]
Presence
Sensor
/check_doors](https://image.slidesharecdn.com/linuxfoundation-roboticsappscalefromzerotohero-210928010419/85/Building-Robotics-Application-at-Scale-using-OpenSource-from-Zero-to-Hero-19-320.jpg)
Building Robotics Application at Scale using OpenSource from Zero to Hero
- 1. © 2021, Amazon Web Services, Inc. or its affiliates. All rights reserved. Building Robotics Application at Scale using OpenSource from Zero to Hero Alex Coqueiro Head of Solution Architects AWS Public Sector - Canada, Latin America and Caribbean @alexbcbr #lfelc #AWS_Gov #awscloud
- 3. Agenda WHY it’s the time for robotics WHAT HOW
- 4. Donald Duck got into the robot-plot business in 1937 “Modern Inventions”
- 5. Donald Duck entrou no negócio de robôs em 1937 “Invenções modernas”
- 7. Robotic Arms International Space Station Drones Education Water Home Self-Driving Vehicles Autonomous Walker Rover … but the revolution is just beginning …
- 8. Agenda WHY WHAT is available in the opensource world? HOW
- 10. Robot Operating System (ROS) Ubuntu 18.04 Most widely used software framework for robot application prototyping, development and deployment. Opensource powering the world’s robots Robot – Application ROS OS* Hardware Ubuntu 20.04 macOS 10.14 Windows 10 https://docs.ros.org/en/foxy/Releases.html
- 11. ROS • Developers can focus on delivering value, not infrastructure • Robot design patterns • CLI tools for deployment, monitoring and debugging • Simulation tools allows for more flexible design • Library of hardware interfaces and patterns • A community of experts to help • 2 major versions ROS and ROS2
- 13. Agenda WHY WHAT HOW (Development, Simulation, Deployment) @ Scale
- 14. Robotics development cycle A W S R O B O T I C S M A K E S I T E A S Y T O B U I L D , T E S T , A N D M A N A G E R O B O T I C S A P P L I C A T I O N S Simulation Robot Model, Environment & 3D Assets Iterative development Application & Hardware Fleet management Development Simulation Deployment
- 15. Building Your Environment Robot application SDK Robot Simulation Models (SDF, URDF, OBJ, STL, Collada) Physical Engine (ODE) 3D Engine (OGRE) Middleware (ROS) www.gazebosim.org ignitionrobotics.org unity-ros2.readthedocs.io docs.ros.org/en/foxy/Installation.html AWS Cloud 9 Eclipse Cyclone DDS Atom + ROS plugins wiki.ros.org/IDEs Robot IDE Assets github.com/aws-robotics avdata.ford.com github.com/osrf 3D worlds Cloud Assets Datasets ROS Melodic ROS 2 Foxy Python & C++ colcon
- 16. AWS RoboMaker: Robotics in the cloud A service that makes it easy for developers to develop, test, and deploy robotics applications, as well as build intelligent robotics functions using cloud services
- 17. ROS key concepts Nodes Processes that perform computations (Ex: your Python files) Discovery The process through which nodes determine how to talk to each other including name registration and lookup to the rest of the Computation Graph Messages A message is simply a data structure, comprising typed fields Topics Messages are routed via a transport system with publish / subscribe semantics. A node sends out a message by publishing it to a topic
- 18. ROS launch - Spawns multiple ROS nodes running in parallel - Sets parameters in the parameter server - XML (ROS1), Python (ROS2) ros2 launch package_name file.launch.py def generate_launch_description(): return LaunchDescription([ Node( package="personal_care_pkg", executable="sub_move_robot.py", name="move_robot_node" ) ]) Example command:
- 19. ROS Publish / Subscribe Model Pub node Sub node Topic Publish Subscribe /unexpected_activity message frontdoor /move_robot : [ x=1, y=0, z=0 ] Presence Sensor /check_doors
- 20. rclpy (Publishing Messages #1) import rclpy from std_msgs.msg import String def __init__(self): self._pub = self.create_publisher(String, ‘/unexpected_activity’, 10) def publish_presence_sensor_detected(self): ##################### # Device detected presence ##################### msg.data = ”frontdoor” self._pub.publish(msg)
- 21. rclpy (Receiving Messages) import rclpy from std_msgs.msg import String def __init__(self): self._hazard = self.create_subscription(String, ‘/unexpected_activity’, self.callback) def callback(self, data): self.get_logger().info(data.data)
- 22. colcon • colcon is a command line tool to improve the workflow of building, testing and using multiple software packages. It automates the process, handles the ordering and sets up the environment to use the packages. colcon build colcon bundle
- 23. Robotics development cycle A W S R O B O T I C S M A K E S I T E A S Y T O B U I L D , T E S T , A N D M A N A G E R O B O T I C S A P P L I C A T I O N S Simulation Robot Model, Environment & 3D Assets Iterative development Application & Hardware Fleet management Development Simulation Deployment
- 24. Hardware, less hard with ROS The ROS pub/sub bus uses common messages to move data. Built in messages for common sensors and actuators: • Cameras • Depth Sensors • LIDAR / RADAR • IMU • Force Feedback Servos • Power systems • GPS Plus easily extensible
- 26. Models simulation in the Physical Engine (ODE) leveraging 3D Engine (OGRE) using Gazebo Gazebo World 3D Models (SDF*, with Mesh, STL, OBJ, DAE, etc) Virtual Robot (URDF**) * Simulation Description Format http://sdformat.org ** Unified Robotic Description Format http://http://wiki.ros.org/urdf
- 27. Generating Multiple Simulation Worlds • Generating 3D assets and world templates • Generate a world within minutes • Concurrent world generation – up to hundreds of worlds • Fully integrated with simulation run • Tag worlds at creation time
- 28. Simulation @ Scale Managed robotics and simulation software stack frees up engineering resources Fully managed Concurrent simulations at cloud scale via a single API call Highly scalable Pay-as-you-go pricing at per-CPU and per-minute granularity Cost effective Automatic generation of virtual simulation worlds with randomization Automatic 3D world generation
- 29. ROS visualization – RQT Source: http://wiki.ros.org/rqt
- 30. ROS Navigation Stack (Nav2) SLAM (Simultaneous Localization and Mapping) and Path planning
- 31. ROS visualization – RViz Map Robot model Laser scan Source: https://github.com/ros-visualization/rviz
- 32. Robotics development cycle A W S R O B O T I C S M A K E S I T E A S Y T O B U I L D , T E S T , A N D M A N A G E R O B O T I C S A P P L I C A T I O N S Simulation Robot Model, Environment & 3D Assets Iterative development Application & Hardware Fleet management Development Simulation Deployment
- 33. Challenges with robot fleet management Over-the-air software updates Secure access control Remote operations Remote troubleshooting Fleet monitoring and alerting
- 34. Key features • Deploy at scale using IoT thing groups • Configure deployments with rollbacks, timeouts, and rollouts • Easily integrate software to AWS services AWS IoT Greengrass Deploy and manage device software at scale to reduce costs and simplify operations C L O U D S E R V I C E : D E P L O Y , M A N A G E D E V I C E S O F T W A R E A T - S C A L E
- 36. Has become among the most popular operational dashboard technologies in the world Uniquely visualizes and combines insights from from multiple open source, cloud, and third- party data sources without moving the data Grafana
- 38. Local Actions Operation Insights AWS IoT Greengrass Core Virtual robot Robotics deployment cycle Robot Artifacts Amazon Managed Service for Grafana
- 40. Resources AWS RoboMaker scenario-based simulation launcher https://github.com/aws-samples/aws-robomaker-simulation-launcher 3D Worlds and ROS cloud extensions https://github.com/aws-robotics AWS robotics blog with detailed guides on CI/CD and more https://aws.amazon.com/blogs/robotics Get started with AWS RoboMaker today! https://aws.amazon.com/robomaker Sample application with test node https://github.com/aws-robotics/aws-robomaker-sample-application-cloudwatch Learn about ROS https://ros.org
- 41. Thank you! © 2021, Amazon Web Services, Inc. or its affiliates. All rights reserved. Alex Coqueiro Head of Solution Architects AWS Public Sector - Canada, Latin America and Caribbean @alexbcbr #lfelc #AWS_Gov #awscloud