Introduction to ROS. Lasse Einig, Dennis Krupke, Florens Wasserfall
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1 Introduction to ROS Lasse Einig, Dennis Krupke, Florens Wasserfall University of Hamburg Faculty of Mathematics, Informatics and Natural Sciences Technical Aspects of Multimodal Systems April 7, 2016 L. Einig, D. Krupke, F. Wasserfall 1
2 Foundation University of Hamburg Motivation Heterogeneity vs. Homogeneity sensor types, actuators,... sensor model, kinematic chain,... Abstraction Algorithm re-usability 2D laser data mapping object recognition Debugging simulation, data visualization,... L. Einig, D. Krupke, F. Wasserfall 2
3 Foundation Idea University of Hamburg Robot Operating System Meta operating system Open source Hardware abstraction portability simplification of sensors and actuators Recurring tasks already solved Navigation, data filtering, object recognition... L. Einig, D. Krupke, F. Wasserfall 3
4 Foundation University of Hamburg Current State Multiple versions actively used may not be compatible to each other may not provide same libraries Linux (Ubuntu!) Supports C/C++, Python, Java, Lisp, Octave... Python for high level code/fast implementation C/C++ for algorithms/computation Functions and algorithms already available May be difficult to find Better than reimplementing L. Einig, D. Krupke, F. Wasserfall 4
5 Structure University of Hamburg ROS System ROS nodes sensors actuators logic ROS core Communication L. Einig, D. Krupke, F. Wasserfall 5
6 Structure University of Hamburg ROS Node Discrete part of the system Specialized software/algorithm Many ROS nodes per system Example: node gets image runs edge detection algorithm on it provides found edges L. Einig, D. Krupke, F. Wasserfall 6
7 Structure University of Hamburg ROS Core Central unit, also called nodes sensors communication Coordination of nodes Communication Management Exactly one per system Transparent to the user L. Einig, D. Krupke, F. Wasserfall 7
8 Structure University of Hamburg Communication Messages standardized data types Topics n:n communication Services and Actions 1:1 communication L. Einig, D. Krupke, F. Wasserfall 8
9 Structure University of Hamburg Sensors Exploration Localization Detection One node per sensor provide data as topic abstract from hardware L. Einig, D. Krupke, F. Wasserfall 9
10 Structure University of Hamburg System structure universe main applications capabilities libraries tools middleware fetch beer navigation; arm; grasping tf; pcl; opencv; bullet; eigen rxgraph; rostopic; roslaunch rosmaster; roscpp; rosbuild universe robot centric, developed by community main general tools, maintained by Willow Garage L. Einig, D. Krupke, F. Wasserfall 10
11 Communication - Messages Messages Fundamental communication concept Description of data set Data types ROS general Header time stamp identifier $ rosmsg show -r robot msgs/quaternion # xyz - vector rotation axis, w - scalar term (cos(ang/2)) float64 x float64 y float64 z float64 w L. Einig, D. Krupke, F. Wasserfall 11
12 Communication - Messages Messages Fundamental communication concept Description of data set Data types ROS general Header time stamp identifier $ rosmsg show -r robot msgs/quaternion # xyz - vector rotation axis, w - scalar term (cos(ang/2)) float64 x float64 y float64 z float64 w L. Einig, D. Krupke, F. Wasserfall 11
13 Communication - Topics Topics Published by nodes Unique identifier Anonymity Open subscription Sensor data L. Einig, D. Krupke, F. Wasserfall 12
14 Communication - Topics L. Einig, D. Krupke, F. Wasserfall 13
15 Communication - Topics advertise( images ) L. Einig, D. Krupke, F. Wasserfall 13
16 Communication - Topics topic:images L. Einig, D. Krupke, F. Wasserfall 13
17 Communication - Topics topic:images subscribe( images ) L. Einig, D. Krupke, F. Wasserfall 13
18 Communication - Topics topic:images subscribe( images ) L. Einig, D. Krupke, F. Wasserfall 13
19 Communication - Topics topic:images L. Einig, D. Krupke, F. Wasserfall 13
20 Communication - Topics topic:images publish(img) L. Einig, D. Krupke, F. Wasserfall 13
21 Communication - Topics topic:images publish(img) L. Einig, D. Krupke, F. Wasserfall 13
22 Communication - Topics topic:images publish(img) processor L. Einig, D. Krupke, F. Wasserfall 13
23 Communication - Topics topic:images subscribe( images ) publish(img) processor L. Einig, D. Krupke, F. Wasserfall 13
24 Communication - Topics topic:images publish(img) processor L. Einig, D. Krupke, F. Wasserfall 13
25 Communication - Services Services 2 message types request and response Synchronous protocol client sends request client waits for server server replies $ rosservice type add two ints rossrv show int64 a int64 b int64 sum L. Einig, D. Krupke, F. Wasserfall 14
26 Communication - Services Services 2 message types request and response Synchronous protocol client sends request client waits for server server replies $ rosservice type add two ints rossrv show int64 a int64 b int64 sum L. Einig, D. Krupke, F. Wasserfall 14
27 Communication - Services topic:images publish(img) processor client L. Einig, D. Krupke, F. Wasserfall 15
28 Communication - Services wait for service( process ) topic:images publish(img) processor client L. Einig, D. Krupke, F. Wasserfall 15
29 Communication - Services wait for service( process ) topic:images Service( process,srv.proc) publish(img) processor client L. Einig, D. Krupke, F. Wasserfall 15
30 Communication - Services topic:images service:process publish(img) processor client L. Einig, D. Krupke, F. Wasserfall 15
31 Communication - Services ServiceProxy ( process,srv.proc) topic:images service:process publish(img) processor client L. Einig, D. Krupke, F. Wasserfall 15
32 Communication - Services topic:images service:process publish(img) client request processor L. Einig, D. Krupke, F. Wasserfall 15
33 Communication - Services topic:images service:process publish(img) processor client L. Einig, D. Krupke, F. Wasserfall 15
34 Communication - Services topic:images service:process publish(img) client response processor L. Einig, D. Krupke, F. Wasserfall 15
35 Communication - Actions Actions 3 message types goal and result optional feedback Asynchronous protocol client sends goal server may respond with feedback server delivers result Interruptible # Define the goal uint32 dishwasher id # Specify which dishwasher we want to use # Define the result uint32 total dishes cleaned # Define a feedback message float32 percent complete L. Einig, D. Krupke, F. Wasserfall 16
36 Communication - Actions Actions 3 message types goal and result optional feedback Asynchronous protocol client sends goal server may respond with feedback server delivers result Interruptible # Define the goal uint32 dishwasher id # Specify which dishwasher we want to use # Define the result uint32 total dishes cleaned # Define a feedback message float32 percent complete L. Einig, D. Krupke, F. Wasserfall 16
37 Communication - Actions topic:images service:process publish(img) processor client L. Einig, D. Krupke, F. Wasserfall 17
38 Communication - Actions ActionClient ( process,procaction) topic:images service:process publish(img) processor client L. Einig, D. Krupke, F. Wasserfall 17
39 Communication - Actions wait for server( process ) topic:images service:process publish(img) processor client L. Einig, D. Krupke, F. Wasserfall 17
40 Communication - Actions wait for server( process ) topic:images service:process ActionServer ( process,procaction) publish(img) processor client L. Einig, D. Krupke, F. Wasserfall 17
41 Communication - Actions publish(img) topic:images service:process action:process processor client L. Einig, D. Krupke, F. Wasserfall 17
42 Communication - Actions publish(img) client topic:images service:process action:process goal processor L. Einig, D. Krupke, F. Wasserfall 17
43 Communication - Actions publish(img) client topic:images service:process action:process feedback(20%) processor L. Einig, D. Krupke, F. Wasserfall 17
44 Communication - Actions topic:images service:process action:process publish(img) client feedback(40%) abort processor L. Einig, D. Krupke, F. Wasserfall 17
45 Communication - Actions publish(img) client topic:images service:process action:process feedback(60%) processor L. Einig, D. Krupke, F. Wasserfall 17
46 Communication - Actions publish(img) client topic:images service:process action:process feedback(80%) processor wait for result L. Einig, D. Krupke, F. Wasserfall 17
47 Communication - Actions publish(img) client topic:images service:process action:process result processor L. Einig, D. Krupke, F. Wasserfall 17
48 Simulations University of Hamburg Simulations Important development tool protects expensive hardware develop and test without robot high-level test Simulates sensor data clean data Turtlesim ROS learning tool Gazebo ROS simulator RViz ROS data visualization L. Einig, D. Krupke, F. Wasserfall 18
49 Simulations University of Hamburg Simulations Important development tool protects expensive hardware develop and test without robot high-level test Simulates sensor data clean data Turtlesim ROS learning tool Gazebo ROS simulator RViz ROS data visualization L. Einig, D. Krupke, F. Wasserfall 18
50 Simulations University of Hamburg Turtle Sim Learning platform 2D turtle move turn draw Communication ROS structure Source: L. Einig, D. Krupke, F. Wasserfall 19
51 Simulations University of Hamburg Gazebo 3D rigid body simulator Simulates robots, environment and sensor data Source: Lasse Einig L. Einig, D. Krupke, F. Wasserfall 20
52 Simulations RViz University of Hamburg 3D visualization environment Different data can be shown Laser scan data, map,... Source: gazebo L. Einig, D. Krupke, F. Wasserfall 21
53 Kinect University of Hamburg Microsoft Kinect Motion sensing device for the XBox 360 by Microsoft Range technology by PrimeSense 3D depth information from infrared structured light Source: L. Einig, D. Krupke, F. Wasserfall 22
54 Kinect University of Hamburg Kinect - technical details Resolution 640 x 30 Hz color 320 x 30 Hz depth FOV of 57 horizontally and 43 vertically Range m up to 3.5 m realistic Physical tilt range ±31 Microphone array with khz supports single speaker voice recognition OpenNI and Freenect drivers L. Einig, D. Krupke, F. Wasserfall 23
55 Kinect University of Hamburg Kinect - example Source: TAMS, Uni Hamburg L. Einig, D. Krupke, F. Wasserfall 24
56 Kinect University of Hamburg Kinect - example Source: TAMS, Uni Hamburg L. Einig, D. Krupke, F. Wasserfall 25
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