My ROS Experience
2 likes2,629 views
The document details SJ Kim's experience with ROS (Robot Operating System) and his objectives to build autonomous robots capable of running errands. It includes a discussion of essential concepts, installation procedures, and several projects such as 'Sulcata' for SLAM using Kinect and 'Gazebo Factory' for simulation. The document also touches on integrating web interfaces with ROS for real-time applications and outlines future research goals in robotics.
![Reference
20
[1] http://wiki.ros.org/
[2] http://gazebosim.org/
[3] https://github.com/OpenKinect/libfreenect2
[4] https://github.com/code-iai/iai_kinect2
[5] https://github.com/robotpilot/rosbook_kr
[6] “Programming Robots with ROS”, Morgan Quigley, Brian Gerkey, and William D. Smart
[7] http://wiki.ros.org/urg_node
[8] http://wiki.ros.org/depthimage_to_laserscan
[9] OROCA, the best ROS community in Korea](https://image.slidesharecdn.com/20160501myrosexperience-160502231313/85/My-ROS-Experience-20-320.jpg)
My ROS Experience
- 1. My ROS Experience - SJ Kim - bus710@gmail.com
- 2. Speaker SJ Kim (Seongjun Kim) - Embedded Software Engineer for 6 years - MCUs, Linux, Web development - My goals 1. Build autonomous robots 2. Make my robot runs errand for me 3. Easy web interface for SLAM and navigation 2 • SLAM: Simultaneous localization and mapping • Navigation: the act, activity, or process of finding the way to get to a place when you are traveling in a ship, airplane, car, etc. (Merriam-Webster)
- 3. Table & Contents - Before ROS - pyKobuki (GUI app for turtlebot) - Why ROS? - Essential Concepts & Commands - ROS installation - Project 1 - SULCATA (ROS stack for SLAM) - Project 2 - Gazebo Factory (steps for original robot) - Project 3 - Web and ROS - What's Next? - Q & A - Reference 3
- 4. Before ROS (pyKobuki) - https://github.com/bus710/pyKobuki - A GUI application for driving Kobuki - Python, Tkinter, threading, serial comm. https://youtu.be/1CXgpq7vz8k 4
- 5. Before ROS (pyKobuki) (cont.) - Target features: TCP socket, Kinect, SLAM, Manipulator - A new feature requires a new thread. - New features cause high complexity/time sensitivity. - An error from a thread can stop other threads. Kobuki OS Python runtime Main process SerialQ ParserGUI PC USB TCP socket Kinect Manipulator 5 SLAM
- 6. Why ROS? - Meta OS, Stable middleware, and Modular design - Several message types (topic, service, and action) - Various useful packages (Drivers, DSP, and ML) - Supports several languages (c/c++, java, js, golang, …) - Free Open Source Software - Promising roadmap (sync w/ Ubuntu LTS) 6 Kobuki OS ROS MLWebGUI PC Manipulator Kinect Driver DSP Planner
- 7. Essential Concepts & commands - Roscore: ROS itself. - Rosrun: runs a single node in a package. - Roslaunch: runs multiple nodes across multiple packages. - Catkin: is an extension of cmake for ROS. - Message between Publisher/Subscriber nodes. - Topic: message stream between pub/sub nodes. - Service: is RPC. a node can call another nodes’ func. - Action: can initiate a long-running task. 7
- 8. ROS installation - CPU: Intel i5 - 3rd gen., RAM: 8GB, HDD: 64GB, - GPU: HD4000, USB: 3.0 - Ubuntu 14.04, ROS Indigo - Desktop Full 8 $ sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’ $ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116 $ sudo apt-get update $ sudo apt-get install ros-indigo-desktop-full $ sudo rosdep init $ rosdep update $ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc $ source ~/.bashrc $ sudo apt-get install python-rosinstall $ cd ~ $ mkdir catkin_ws $ cd catkin_ws $ catkin_make $ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc ; source ~/.bashrc http://wiki.ros.org/indigo/Installation/Ubuntu
- 9. Project 1 - SULCATA - A type of tortoise species, which live in the ground. - Kinect v2, Kobuki, Kobuki supporter kit - USB Type A to B, Camera mounting screw - Molex PN : 5566-02B2 9NVIDIA-TK1 (ARM based) Intel I-5 (x64 based) VS.
- 10. Project 1 - SULCATA (cont.) - Summary for the stack 10 kobuki Ubuntu kobuki-slamkobuki- keyop rviz PC Kinect v2 kobuki-driver urg-node libkinect2 iai-kinect2kobuki-node depth to laser ROS 1 235 46 (1) iai-Kinect sends depth image to the dimension converter node. (2) The converter sends 2D value to urg-node. (3)&(4) kobuki-slam reads 2D value and tf (time frame) from each nodes. (5) Rviz visualizes data on GUI. (6) keyop sends topics for driving kobuki.
- 11. Project 1 - SULCATA (cont.) - Installation & Launch https://github.com/bus710/sulcata 11 - libkinect2 supports several GPUs (NVIDIA, AMD, Intel, ARM). - Read the official document carefully to install the driver on your machine.
- 12. Project 2 - Gazebo Factory - Gazebo is OSRF’s 3D robot simulator. - Supports ground, flight, underwater env. & robot. - Various physics engines (ODE, Bullet, Simbody, and DART) - Compatible with ROS. Good for proof of concept. 12 UbuntuPC ROS Model System World World Plugin System plugin Model plugin Gazebo
- 13. Project 2 - Gazebo Factory (cont.) - 3 files for model description. (1) model.config (2) model.sdf (3) link*.dae (by Blender, Solidworks, or Rhino) - 6 files for ROS package and Gazebo world setting. (4) CMakeLists.txt (5) package.xml (6) launch/PROJECT_NAME.launch 13 /home/USER_NAME/ .gazebo/models/ROBOT_NAME/ catkin_ws/src/PROJECT_NAME/ (1) model.config (2) model.sdf (3) link*.dae (4) CMakeLists.txt (5) package.xml (6) launch/PROJECT_NAME.launch (7) worlds/WORLD_NAME.world (8) src/GAZEBO_PLUGIN.cc (8) src/ROS_NODE.py (7) worlds/WORLD_NAME.world (8) src/GAZEBO_PLUGIN.cc (9) src/ROS_NODE.py
- 14. Project 2 - Gazebo Factory (cont.) - Installation & Launch https://github.com/bus710/gz_factory 14 https://youtu.be/lGlfi2OWBnE
- 15. Project 3 - Web and ROS - ROS bridge package supports web socket. - A good fit for real-time web applications. - Any computer has web browser. (no install for client) - There is a missing link between ROS bridge and browser. - Browser requires web page before it accesses web socket 15 ROS coreROS bridge Web browser ??? Client Robot This layer must deliver web page for browser
- 16. Project 3 - Web and ROS (cont.) - To deliver web pages, we need a web server. - Node.js has lightweight web server, Express. 16 Node.js stack ROS stackWeb Browser Client Robot User starts - ROS core. - ROS simulator node. - ROS bridge (port 9090). User starts node stack (port 3000).User accesses Robot via web browser. Then, Web browser requests index.html. Node returns index.html. Web browser requests client.js Node returns client.js. User clicks button on web. Then, the loaded Client.js sends JSON packet via WebSocket (port 9090). ROS bridge - Converts JSON to ROS topic. - Assigns topic to simulator. 1 2 3 4 n User actions Http exchange Web socket access
- 17. Project 3 - Web and ROS (cont.) - Installation & Launch https://github.com/bus710/rosbridge-usage - Result
- 18. What's next - Build a combination with SULCATA + ROS Bridge. - Research on robotics topics about SLAM & navigation. - Eventually, make my robot runs errands for me. 18
- 19. Q&A 19
- 20. Reference 20 [1] http://wiki.ros.org/ [2] http://gazebosim.org/ [3] https://github.com/OpenKinect/libfreenect2 [4] https://github.com/code-iai/iai_kinect2 [5] https://github.com/robotpilot/rosbook_kr [6] “Programming Robots with ROS”, Morgan Quigley, Brian Gerkey, and William D. Smart [7] http://wiki.ros.org/urg_node [8] http://wiki.ros.org/depthimage_to_laserscan [9] OROCA, the best ROS community in Korea