Design and Implementation of an Autonomous Robotics Simulator
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Introduction to ROS – Robot Operating System –
Introduction to ROS – Robot Operating System – Daniel Serrano Department of Intelligent Systems, ASCAMM Technology Center Parc Tecnològic del Vallès, Av. Universitat Autònoma, 23 08290 Cerdanyola del Vallès SPAIN [email protected] ABSTRACT This paper gives an introduction to the open-source Robot Operating System (ROS. ROS has been widely adopted by the research robotics community as it provides a powerful software framework to develop autonomous unmanned systems. In this paper, we discuss some of the components that are available on the ROS repository. 1.0 INTRODUCTION The Robot Operating System (ROS) [1] is an open source robot operating system. It provides libraries and tools to help software developers create robot applications. It offers hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is similar in some respects to 'robot frameworks,' such as Player, YARP, Orocos, CARMEN, Orca, MOOS, and Microsoft Robotics Studio. The primary goal of ROS is to support code reuse in robotics research and development. It has been quickly adopted by many robotics research institutions and companies as their standard development framework. The list of robots using ROS is quite extent and it includes platforms from diverse domains, ranging from aerial and ground robots to humanoids and underwater vehicles. To name some, the humanoid robots PR-2 and REEM-C, ground robots such as the ClearPath platforms and aerial platforms such as the ones from Ascending Technologies are fully developed in ROS. Furthermore, a quite extent list of popular sensors for robots is already supported in ROS. To name some, sensors such as Inertial Measurement Units, GPS receivers, cameras and lasers can already be accessed from the drivers widely available on the ROS system. -
An Application Programming Interface for the MORSE Simulator
Bachelor’s Thesis Czech Technical University in Prague Faculty of Electrical Engineering F3 Department of Control Engineering An application programming interface for the MORSE simulator Lukáš Bertl Cybernetics and Robotics: Systems and Control [email protected] January 2017 Supervisor: RNDr. Miroslav Kulich, Ph.D. Acknowledgement / Declaration I would like to express my gratitude to I hereby declare that I have complet- my supervisor RNDr. Miroslav Kulich, ed this thesis with the topic ”An ap- Ph.D. for a great mentorship, patience plication programming interface for the and wise comments that helped me com- MORSE simulator” independently and plete this project. that I have listed all sources of informa- I would like to thank my girlfriend tion used within it in accordance with and my parents for their unlimited men- the methodical instructions for observ- tal support throughout my whole stud- ing the ethical principles in the prepara- ies. tion of university theses. Finally, I thank my brother and Kač- In Prague, January ...., 2017 ka Janatková for the proofreading of this thesis. ........................................ Lukáš Bertl iii Abstrakt / Abstract Práce představuje CCMorse, což je Thesis presents the CCMorse, a simu- knihovna pro komunikaci se simuláto- lator communication library, that I have rem, kterou jsem vytvořil. Práce dále created. The thesis also describes the popisuje proces vývoje simulačního pro development process of a MORSE sim- simulátor MORSE. ulation environment. Teze probírá nejprve teorii robotic- The thesis -
Robot Operating System - the Complete Reference (Volume 4) Part of the Studies in Computational Intelligence Book Series (SCI, Volume 831)
Book Robot Operating System - The Complete Reference (Volume 4) Part of the Studies in Computational Intelligence book series (SCI, volume 831) Several authors CISTER-TR-190702 2019 Book CISTER-TR-190702 Robot Operating System - The Complete Reference (Volume 4) Robot Operating System - The Complete Reference (Volume 4) Several authors CISTER Research Centre Rua Dr. António Bernardino de Almeida, 431 4200-072 Porto Portugal Tel.: +351.22.8340509, Fax: +351.22.8321159 E-mail: https://www.cister-labs.pt Abstract This is the fourth volume of the successful series Robot Operating Systems: The Complete Reference, providing a comprehensive overview of robot operating systems (ROS), which is currently the main development framework for robotics applications, as well as the latest trends and contributed systems. The book is divided into four parts: Part 1 features two papers on navigation, discussing SLAM and path planning. Part 2 focuses on the integration of ROS into quadcopters and their control. Part 3 then discusses two emerging applications for robotics: cloud robotics, and video stabilization. Part 4 presents tools developed for ROS; the first is a practical alternative to the roslaunch system, and the second is related to penetration testing. This book is a valuable resource for ROS users and wanting to learn more about ROS capabilities and features. © 2019 CISTER Research Center 1 www.cister-labs.pt Studies in Computational Intelligence 831 Anis Koubaa Editor Robot Operating System (ROS) The Complete Reference (Volume 4) Studies in Computational Intelligence Volume 831 Series Editor Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Poland [email protected] The series “Studies in Computational Intelligence” (SCI) publishes new develop- ments and advances in the various areas of computational intelligence—quickly and with a high quality. -
Modular Open Robots Simulation Engine: MORSE
Modular Open Robots Simulation Engine: MORSE Gilberto Echeverria and Nicolas Lassabe and Arnaud Degroote and Severin´ Lemaignan Abstract— This paper presents MORSE, a new open–source robotics simulator. MORSE provides several features of interest to robotics projects: it relies on a component-based architecture to simulate sensors, actuators and robots; it is flexible, able to specify simulations at variable levels of abstraction according to the systems being tested; it is capable of representing a large variety of heterogeneous robots and full 3D environments (aerial, ground, maritime); and it is designed to allow simu- lations of multiple robots systems. MORSE uses a “Software- (a) A mobile robot in an indoor scene (b) A helicopter and two mobile in-the-Loop” philosophy, i.e. it gives the possibility to evaluate ground robots outdoors the algorithms embedded in the software architecture of the robot within which they are to be integrated. Still, MORSE Fig. 1: Screenshots of the MORSE simulator. is independent of any robot architecture or communication framework (middleware). MORSE is built on top of Blender, using its powerful features and extending its functionality through Python scripts. sensor or path planning for a particular kinematic system Simulations are executed on Blender’s Game Engine mode, [3], [4], [5]; such simulators are highly specialised (“Unitary which provides a realistic graphical display of the simulated Simulation”). On the other hand, some applications require environments and allows exploiting the reputed Bullet physics a more general simulator that can allow the evaluation of engine. This paper presents the conception principles of the simulator and some use–case illustrations. -
Flexible Modular Robotic Simulation Environment for Research and Education
FLEXIBLE MODULAR ROBOTIC SIMULATION ENVIRONMENT FOR RESEARCH AND EDUCATION Dennis Krupke∗, Guoyuan Li and Jianwei Zhang Houxiang Zhang and Hans Petter Hildre Department of Computer Science Faculty of Maritime Technology and Operations University of Hamburg Aalesund University College Email: f3krupke, li, [email protected] Email: fhozh, [email protected] ∗corresponding author knowledge there is no special purpose simulation soft- ware for modular robots that allows for fast and easy cre- KEYWORDS ation of a simulation setup while being easy to use and easy to understand. Modular robots control, educational software, Open- A modular robot GUI has been developed that enables RAVE, interactive simulation the user to focus on robotics while most of the program- ming part is hidden. This idea is also described in (Zhang ABSTRACT et al., 2006). In contrast to other powerful systems only In this paper a novel GUI for a modular robots simula- few rules have to be learned for proper use of our sys- tion environment is introduced. The GUI is intended to tem. Motivation is the most important aspect for peo- be used by unexperienced users that take part in an edu- ple who have just begun with something new to proceed cational workshop as well as by experienced researchers and succeed. The GUI enables the user to get results who want to work on the topic of control algorithms of very quickly because only some basic knowledge about modular robots with the help of a framework. It offers the application space of modular robotics is needed. This two modes for the two kinds of users. -
Player-Stage Based Simulator for Simultaneous Multi-Robot Exploration and Terrain Coverage Problem
International Journal of Artificial Intelligence & Applications (IJAIA), Vol.2, No.4, October 2011 PLAYER -STAGE BASED SIMULATOR FOR SIMULTANEOUS MULTI -ROBOT EXPLORATION AND TERRAIN COVERAGE PROBLEM K.S. Senthilkumar and K. K. Bharadwaj School of Computer and Systems Sciences Jawaharlal Nehru University, New Delhi 110067 [email protected], [email protected] ABSTRACT One of the possible ways of offering assistance without risking additional human lives during hazardous situations is by deploying a robot team, equipped with various sensors and actuators. Working with intelligent robotics requires a large investment in both money and time. There is a general purpose, open source simulator called Player/Stage, which provides a hardware abstraction layer to several popular robot platforms, and is commonly used by robotics community in research and university teaching, today. This simulator tends to be very simple and task-specific. Player, which is a distributed device server for robots, sensors and actuators, can control either a real or simulated robot thus allowing direct application of developed algorithms to real-life scenarios. Hence, we believe that Player/Stage, when coupled with robust hardware, is a viable paradigm for our Simultaneous MSTC(S-MSTC) algorithm. This paper gives details of our experience in running Player/Stage during the implementation of our online S-MSTC algorithm for multi-robot being implemented in C++ and we use Player/Stage middleware for validation and testing. In addition, the experience with Player/Stage can help us to do research in more complicated situations. KEYWORDS Multi-robot, Exploration, Terrain Coverage, Player/Stage Simulator 1. INTRODUCTION In recent past, there has been an increasing interest in the software side of robotics such as simulators. -
Getting Started
Getting started Note: This Help file explains the features available in RecordNow! and RecordNow! Deluxe. Some of the features and projects detailed in the Help are only available in RecordNow! Deluxe. Click here to connect to a Web site where you can learn more about upgrading to RecordNow! Deluxe. Welcome to RecordNow! by Sonic, your gateway to the world of digital music, video, and data recording. With RecordNow! you can make perfect copies of your CDs and DVDs, transfer music from your CD collection to your computer, create personalized audio CDs containing all of your favorite songs, and much more. In addition, a full suite of data and video recording programs by Sonic can be started from within RecordNow! to back up your computer, create drag-and-drop discs, watch movies, edit digital video, and create your own DVDs. Some of these programs may already be installed on your computer. Others are available for purchase. This Help file is divided into the following sections to help you quickly find the information you need: Getting started — Learn about System requirements, Getting help, Accessibility, and Removing RecordNow!. Things you should know — Useful information for newcomers to digital recording. Exploring RecordNow! — Learn to use RecordNow! and find out more about associated programs and upgrade options. Audio Projects — Step-by-step instructions for every type of audio project. Data projects — Step-by-step instructions for every type of data project. Backup projects — Step-by-step instructions for backup projects. Video projects — Step-by-step instructions for video projects. Utilities — Instructions on how to erase and finalize a disc, how to display detailed information about your discs and drives, and how to create disc labels. -
28Th Daaam International Symposium on Intelligent Manufacturing and Automation
28TH DAAAM INTERNATIONAL SYMPOSIUM ON INTELLIGENT MANUFACTURING AND AUTOMATION DOI: 10.2507/28th.daaam.proceedings.172 SERVICE ROBOTS INTEGRATING SOFTWARE AND REMOTE REPROGRAMMING Davydov D.V., Eprikov S.R., Kirsanov K.B., Pryanichnikov V.E. This Publication has to be referred as: Davydov, D[enis]; Eprikov, S[tanislav]; Kirsanov, K[irll] & Pryanichnikov, V[alentin] (2017). Service Robots Integrating Software 4nd Remote Reprogramming, Proceedings of the 28th DAAAM International Symposium, pp.1234-1240, B. Katalinic (Ed.), Published by DAAAM International, ISBN 978-3-902734- 11-2, ISSN 1726-9679, Vienna, Austria DOI: 10.2507/28th.daaam.proceedings.172 Abstract This paper presents a solution to the problems of redundancy and organisation of the software architecture inherent in robotic systems and its' simulators. The analysis and comparison of these solutions with the existing ones are given. It was designed a new software architecture for controlling mobile robotic complexes on the base of two models. Developed simulators and usage of the actor model were the base for creating the technological platforms for distributed software control, providing the simultaneous access of several users to a group of mobile robots and their virtual models. Keywords: building a network of robotarium; distributed control of mobile robots and their simulation software for mobile robot; reservation methods in robotics; dynamic reprogramming 1. Main problems When developing intelligent robots, one of the problems is the lack of effective software to create systems of group control. For example, in the well-known software packages (ROS, MRS, and others) does not included specific development tools for control of distributed mechatronic systems, especially in remote mode. -
Openrave: a Planning Architecture for Autonomous Robotics
OpenRAVE: A Planning Architecture for Autonomous Robotics Rosen Diankov James Kuffner [email protected] [email protected] CMU-RI-TR-08-34 July 2008 Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213 Copyright c 2008 by Rosen Diankov and James Kuffner. All rights reserved. Abstract One of the challenges in developing real-world autonomous robots is the need for integrating and rigorously test- ing high-level scripting, motion planning, perception, and control algorithms. For this purpose, we introduce an open-source cross-platform software architecture called OpenRAVE, the Open Robotics and Animation Virtual Envi- ronment. OpenRAVE is targeted for real-world autonomous robot applications, and includes a seamless integration of 3-D simulation, visualization, planning, scripting and control. A plugin architecture allows users to easily write cus- tom controllers or extend functionality. With OpenRAVE plugins, any planning algorithm, robot controller, or sensing subsystem can be distributed and dynamically loaded at run-time, which frees developers from struggling with mono- lithic code-bases. Users of OpenRAVE can concentrate on the development of planning and scripting aspects of a problem without having to explicitly manage the details of robot kinematics and dynamics, collision detection, world updates, and robot control. The OpenRAVE architecture provides a flexible interface that can be used in conjunction with other popular robotics packages such as Player and ROS because it is focused on autonomous motion planning and high-level scripting rather than low-level control and message protocols. OpenRAVE also supports a powerful network scripting environment which makes it simple to control and monitor robots and change execution flow dur- ing run-time. -
Chi Lin Chang Taiwan (R.O.C.) +886-9-3038-6000 (張祺崙/Alan Chang) [email protected] Homepage
7F, No.233, Bade Rd. East Dist., Hsinchu City 30069 Chi Lin Chang Taiwan (R.O.C.) +886-9-3038-6000 (張祺崙/Alan Chang) [email protected] Homepage: http://qi1002.github.io/ EXPERIENCE SKILLS Mentor Graphics, LINK, Taiwan/Hsinchu— Senior Software Engineer C and C++ June 2019 - PRESENT (AMS BU) Java, C# and Python ➢ Model extractor QT Tool development and common model interface with simulator. Android framework in java/native/kernel layers Mediatek, LINK, Taiwan/Hsinchu— Manager/ Technical Manager Linux Kernel and FPGA emulation 1. June 2012 - January 2019 (CTO BU) (more than 3 years’ team management experience) ➢ Camera team for smart phone project 8032 and ARM RISC - Manage the team for camera 3A & ISP flow and support image quality tuning flows on OpenCL, OpenVX, OpenCV our camera C++ modules. Familiar to android camera interface, camera ISP/3A on OpenGLES, GPU android C++ native framework and our bit-True flow with CModel by python scripts. DNN - Caffe - Involved in the CV algorithm survey for ADAS based OpenCL + OpenVX or OpenCL + ASP, JSP, CSS and HTML openCV or Halide. (ex: canny edge, pedestrian/face detection) and survey DNN – Caffe for the possibility of ADAS application. Caffe, OpenCV, Halide are all based on C++. - Hands on IQ tuning tool development. Use Python .NET to integrate with C# and python CERTIFICATION work together seamlessly in tool. Familiar to C# and Python. ➢ GPU team for smart phone project ISO 26262 Basic Training Course (Tuv Nord) - Hands on to develop the GPU driver (based on mesa 9.0) in the multiple environments, (ex: windows, Linux, android emulator, FPGA with Linux console, FPGA with android K, Tablet with android L) and be charge of the IP bring up in the first IC. -
Modelling, Simulation and Control of a Humanoid Robot
Heriot-Watt University School of Engineering and Physical Sciences M odelling, Simulation and control of a humanoid robot Inserting a pin to a hole using DARWINOP Group members: Roshenac Mitchell, Markus Lampert, Nurgaliyev Shakh- Izat, Samir Mammadov, Hugo Sardinha, Waqar Khadas Table of Contents 1 Introduction .................................................................................................................... 4 1.1 System overview .................................................................................................................. 4 1.2 Specification ........................................................................................................................ 5 2 Robot design and simulation ........................................................................................... 5 2.1 The Robotics Simulators ....................................................................................................... 6 2.1.1 Webot Robot Simulator .......................................................................................................... 6 2.1.2 Features .................................................................................................................................. 7 2.2 Technical information .......................................................................................................... 7 2.3 The Robotics World .............................................................................................................. 7 2.4 Simulation with the control of -
A Camera-Realistic Robotics Simulator for Cinematographic Purposes
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 25-29, 2020, Las Vegas, NV, USA (Virtual) CinemAirSim: A Camera-Realistic Robotics Simulator for Cinematographic Purposes Pablo Pueyo, Eric Cristofalo, Eduardo Montijano, and Mac Schwager Abstract— Unmanned Aerial Vehicles (UAVs) are becoming increasingly popular in the film and entertainment industries, in part because of their maneuverability and perspectives they en- able. While there exists methods for controlling the position and orientation of the drones for visibility, other artistic elements of the filming process, such as focal blur, remain unexplored in the robotics community. The lack of cinematographic robotics solutions is partly due to the cost associated with the cameras and devices used in the filming industry, but also because state- of-the-art photo-realistic robotics simulators only utilize a full in-focus pinhole camera model which does not incorporate these desired artistic attributes. To overcome this, the main contribution of this work is to endow the well-known drone simulator, AirSim, with a cinematic camera as well as extend its API to control all of its parameters in real time, including various filming lenses and common cinematographic properties. Fig. 1. CinemAirSim allows to simulate a cinematic camera inside AirSim. In this paper, we detail the implementation of our AirSim Users can control lens parameters like the focal length, focus distance or modification, CinemAirSim, present examples that illustrate aperture, in real time. The figure shows a reproduction of a scene from “The the potential of the new tool, and highlight the new research Revenant”. We illustrate the filming drone (top left), the current camera opportunities that the use of cinematic cameras can bring to parameters (top right), the movie frame (bottom left) and simulated frame research in robotics and control.