ロボットについて (ロボットのソフトウェア的側面と分散モジュール開発)

SUGAR SWEET ROBOTICS CO., LTD.

SUGAR SWEET ROBOTICS

1


(Yuki Suga)

2012 SUGAR SWEET ROBOTICS 20102012 20072010 ()

2

h"p://ysuga.neth"p://revast.co.jph"p://sugarsweetrobo7cs.com


20072010 3

h"p://www.sugano.mech.waseda.ac.jp

WABOT-HOUSE


20102012

4

Mobile Robot Pioneer Neuronics Katana

Inuktun Aldebaran Robotics NAO

h"p://revast.co.jp

SUGAR SWEET ROBOTICS CO., LTD. 2012 SUGAR SWEET ROBOTICS

RT

Web

5

ROS

RT

RT


6


7


8


LIDAR

9


10


11


C, C++, Java, C# PC

Python, Ruby

PHP, Javascript

Matlab, Scilab, R

12


SLAM

13


()

14


15


ITA A

16


SysML

17


18


19


20


21


22


23


24


25


26


27


28


29


30


31

UML


(ISO, JIS)

32


SysML Systems Modeling Language

OMG (Object Modeling Group) UMLCORBA

33


34


SysML

35


36


37


OSOS OS

DBMS (Oracle, MySQL)

OSOS

38


f

Microsoft Robotics Developer Studio Kinect

YARP iCub

OROCOS

OpROS

ORiN DENSO

ROS Robot Operating System DARPA Robotics Challenge

RT-middleware OMG OpenRTM-aist

naoqi Aldebaran Robotics NAOSoftBankPepper

39


ROS

40


ROS ROS (Robot Operating System) OS Ubuntu LinuxUnix OS

ROS

41


ROS & WillowGarage WillowGarage (Menlo Park, CA)

2006 Founder : S. Hassan : eGroupsGoogle CEO : S. Cousins IBM,Xerox

Milestone 1 2008/12/12 3.14km Milestone 2 2009/6/3 Milestone 3 2010/1/22 ROS1.0 Milestone 4 2010/6/29 PR2 Beta Program

ROS (Robot Operating System) plumbing + tools + capabilities + ecosystem

2007 Switchyard Stanford AI M.Quigley

2008 WillowGarage B. GerkeyStage/Player

2012DARPA

42

2008K.Wyrobek,E.Berger,H.F.M.VanderLoos,K.Salisbury

ROS

h"p://maps.google.com/maps/ms?ie=UTF&msa=0&msid=209668390659853657363.00049c608b78bc7779683

SUGAR SWEET ROBOTICS CO., LTD. Willow Garage to Shut Down?

Company Says 'No, Just Changing' (2013/2/11)

43

WillowGarage(2006-)WillowGaragedevelopshardwareandopensourceso]wareforpersonalrobo7csapplica7on-Sco"Hassan,SteveCousins

OpenSourceRobo7csFounda7on,Inc.(OSRF)isanindependentnon-profitorganiza7onfoundedbymembersoftheglobalrobo7cscommunity.-BrianGerkey,JohnHsu,RobertaFriedman,NateKoenig,SteffiPaepcke,MorganQuigley

IndustrialPercep7onisthesecondspinoffofWillowGaragewherethefoundersweremembersoftheresearchandso]wareengineeringteams.-KurtKonolige,GaryBradski,EthanRublee,StefanHinterstoisser,TroyStraszhei

Weareaninterna7onallyrenownedgroupofexpertscien7stsandengineers,workingtogethertosolvecomplicated3Dpercep7onproblems.-RaduB.Rusu,DavidBoardman,SteveCousins,FrankDellaert,AnwarGhuloum,KenSpratlin.

hiDOFwasfoundedbyagroupofengineersfromWillowGarageseekingtoleverageadvancedrobo7ctechnologyandtoolsforcommercialapplica7ons.-EitanMarder-Eppstein,WimMeeusse,E.GilJone,VijayPradeep,SteveCousins.

SuitableTechnologiesisastartupworkingtofulfillthepromiseofremotepresencetechnology.Ourmissionistoconnectpeopleseparatedbydistanceinthemostnaturalwaypossible.-Sco"Hassan,JoshTyler,BoPreising,MilanBhalala

NPO


ORiN

44


ORiN ()

ORiN

DENSO

Windows

.NET(VC,VB,C#) DENSOORiNDENSO

FAORiN

EtherCAT(TwinCAT3)

ROS,RTM

45


46


47


naoqi

48


naoqi () Aldebaran Robotics NAO SoftBankPepper

Win, Linux, OSX Python, C++, Java, .NET, MATLAB

Module Module

Choregraphe Module

49


naoqi

Module Linux, Win, MacOSX C++, Python, C#, Java, MATLAB

50


Choregraphe NAOBOX

BOX

BOX BOXPythonPython

51


Choregraphe BOX

LED

BOX

52


RT (RTM)

53


RT RT != Real Time. RT == Robot Technology (RT) RTRT (RTC)

RTC RTC

RTCCORBAUMLOMG(Object Management Group)

OS OS OS OS RT

54


RT

OpenRTM-aist CORBAC++, Python, JavaWin, Linux, Mac

OpenRTM.NET.NET framework H-RTMHonda Research InstituteOMGRTCFSM RTM SafetyIEC 61508 SIL3RT

miniRTC, microRTCRTMCANZigBee RTM on AndroidAndroidRTMOpenRTM-aist RTC-CANopenCANopenRTC

55


(OS, )

56

RTM ()

ROS


SIer

57


58


59


ROS

FA (ROS-industrial) ROS

RTM RTM

ROS ORiN

DENSOFA ORiN (LabView) FA

60


ROS

61


ROS () Ubuntu Linux

apt OS

Node

Node Node Node

Topic / Service / Parameter (Pub-sub) TopicService Parameter

Master roscore (Master) NodeTopic MasterXML-RPCTopicTCP

(roslaunch)

CMake (catkin, rosbuild) rosdep

OpenCV, PCL, OpenNI

62


PackageNode Package Node

Package0Node

Package.xmlrosdep

CMakeLists.txtCMakeROS

63

.launch

CMakeLists.txt package.xml


Node Topic

Pub/Sub Topic

Service

64

Publish

Subscribe

Provide

1.Request

2.Call 3.Result


Node Parameter

Parameter

Parameter

NodeParameter

set

get


MasterNode MasterNode Master

TopicPublish/SubscribeNode ServiceProvideNode XML-RPC

Topic (MasterAPI) NodeMasterTopic Publisher PublisherTCPMasterSubscriber SubscriberMaster/

66


RT

67


RT RT Real Time. RT==Robot Technology (RT) RTRT (RTC)

RTC RTCCORBAUMLOMG(Object

Management Group) OS

OS OS OS RT

68


RTC RTC

RTC RTCCREATEINACTIVE

RTCACTIVE

on_execute RTCdeactivateINACTIVE

RTC RTC

69

CREATED INACTIVE

ACTIVEERROR

DEACTIVATE

ACTIVATERESET


RTC (Execution Context)

EC EC EC

ECRTCACTIVEon_execute

ECRTC EC EC

70

CREATED INACTIVE

ACTIVEERROR

DEACTIVATE

ACTIVATERESET

RTC


RT

OpenRTM-aist CORBAC++, Python, JavaWin, Linux, Mac

OpenRTM.NET.NET framework H-RTMHonda Research InstituteOMGRTCFSM RTM SafetyIEC 61508 SIL3RT

miniRTC, microRTCRTMCANZigBee RTM on AndroidAndroidRTMOpenRTM-aist RTC-CANopenCANopenRTC

71


SysMLRTC

72


73

NAO, Pepper: Aldebaran Robotics

Mobilerobots: Adept MobileRobot

FA: DENSO, MITSUBISHI Kabuki : Yujin Robotics : V-STONE


RT

74


75


RT

76


PC

I/OUSB RC

77


78

WinXP+VC++2008


79


USB OpenRTM-aistExample OpenCV

80

TimedOctetSeqOpenCV


OpenCV

81

TimedOctetSeqOpenCV

TimedDoubleX

TimedDoubleY


82


RCiMCs04 iXs Research 45[mm] x 30[mm] USB

4chRC 4chA/D

83

iMCs04

TimedIntRC

TimedFloatA/D


84


TWAIN

102(L)48(W)26(H) 70[g] 600dpi

85

TimedOctetSeqBitMap


86

TimedString

TimedOctetSeqBitmap


AquesTalk

87

TimedString


88


GUI

89


90


2 APIRTC

RTC

91


92

RTC

ExactDynamicsiARM

InuktunminiTracsTRACLabsBiclops

VIDEREDesignBiclops


WASEDA UNIV, Jan. 2014

RTC

API PC RTC

93

RT


94


arduinoRT

95


RTno () RTno = RT-middleware + Arduino

ArduinoRT RTArduino RTC

96


RTM OpenRTM-aist

Linux TOPPERS

RTC-CANopen CANOpen

RTC-Lite (miniRTC, microRTC) CANZigBeeARM

RTno arduino Float

97


RTno

98

arduinoRTC

RTnoPC


RT

99openrtm.org


RTnoRTC

rtcconf

100

#includevoidrtcconf(void){conf._default.connec7on_type=Connec7onTypeSerial1;conf._default.baudrate=57600;exec_cxt.periodic.type=Timer1Execu7onContext;exec_cxt.periodic.rate=1000;//[Hz]}


RTnoRTC

OpenRTM-aist

101

TimedLongin0;InPortin0In("in0",in0);TimedLongSeqin0;InPortin0In("in1",in0);TimedLongout0;OutPortout0Out("out0",out0);TimedLongSeqout0;OutPortout0Out("out1",out0);


RTnoRTC

onInitialize

102

intRTno::onIni7alize(){addInPort(in0In);addInPort(in1In);addOutPort(out0Out);addOutPort(out1Out);intLED=13;pinMode(LED,OUTPUT);returnRTC_OK;}


RTnoRTC

onActivated, onDeactivated

103

intRTno::onAc7vated(){digitalWrite(LED,LOW);returnRTC_OK;}

intRTno::onDeac7vated(){digitalWrite(LED,LOW);returnRTC_OK;}


RTnoRTC

onExecute

104

out0.data=3.14159;out0Out.write();out0.data.length(3);out0.data[0]=1.1;out0.data[1]=2.2;out0.data[2]=3.3;out0Out.write();returnRTC_OK;}

intRTno::onExecute(){if(in0In.isNew()){in0In.read();longdata=in0.data;digitalWrite(LED,data);}if(in0In.isNew(&in1In)){in0In.read();for(inti=0;iINACTIVE on_activatedINACTIVE->ACTIVE on_deactivatedACTIVE->INACTIVE on_executeACTIVE

143


RTC Builder RTC Builder

Builder EditorRTC

Builder Editor RTC

144


RTC Builder

MyController

145


RTC Builder

146


RTC Builder

1.onExecute

2.ON147


RTC Builder

RTM_ROOT ~/.bashrc TimedVelocity2DTimedVector2D

148


RTC Builder

C++

149

()

149


RTC Builder MyController Builder Editor

150


RTC Eclipseworkspace Win C:\Users\\workspace Linux/home//workspace

RTC

151


CMake CMake

CMakeLists.txtCMake

152


ROBOTECH2012RT

CMake

build RTC/workspace/MyController

/workspace/MyController/build

ConfigureOK

2012/7/11153


CMake2.8

Visual Studio 12 2013 Use default native compilers

Generate Visual Studio

154


MacLinux

cd $HOME/workspace/MyController # RTC mkdir build# build cd build # build cmake ../ # cmake make #

RTCBMacRTC RTC$ModuleName

RTC/include/$ModuleName/$ModuleName.h

155

#include !#include !#include !#include !#include !#include !#include !#include !

#include !#include !#include !#include !#include !#include !#include !#include !


Visual Studio build/src/MyController.sln Visual Studio

MyControllerRTC MyControllerCompRTC

MyController MyController.cpp

156


Visual Studio MyController::onExecute

RTCACTIVE

157

RTC::ReturnCode_tMyController::onExecute(RTC::UniqueIdec_id){

m_velocity.data.vx=0.05;//m_velocity.data.vy=0;m_velocity.data.va=1.0;m_velocityOut.write();//returnRTC::RTC_OK;

}


2 TimedVelocity2D2 tm : Time

sec : unsigned long nsec : unsigned long

data : Velocity2D vx : doubleX (m/s) vy : doubleY (m/s) va : double (rad/s)

X

Y

158


TimedVelocity2Dvel vel.data.vxX [m/s] vel.data.vyY [m/s] vel.data.vaZ [rad/s]

IDL

C:\Program Files (x86)\OpenRTM-aist\1.1\rtm\idl

TimedVelocity2DExtendedDatatype.idl

X

Y

159

LinuxMac/usr/include/openrtm-1.1/rtm/idl/usr/local/include/openrtm-1.1/rtm/idl


IDL

C++, Java, Python IDLRTC Builder

CORBA

160

/*!*@structTimedVelocity2D*@briefTime-stampedversionofVelocity2D.*/structTimedVelocity2D{Timetm;Velocity2Ddata;};

/*!*@structVelocity2D*@briefVeloci7esin2Dcartesianspace.*/structVelocity2D{///Velocityalongthexaxisinmetrespersecond.doublevx;///Velocityalongtheyaxisinmetrespersecond.doublevy;///Yawvelocityinradianspersecond.doubleva;};


RTC

MyControllerComp

MobileRobotSim.bat

RT System EditorACTIVE

161


2

RTC

MyController

X

Y

162


RTC Builder Eclipse

RTC Builder

RTC.xml

163


RTC Builder

velocity_x

164


velocity_x : double

: velocity_x : 0.05

velocity_theta : double : velocity_theta : 1.0

165


RTC Builder

Generated Merge

Generated

()

166


2

MyController


std::cout


RTC

MobileRobotSim.bat RT System EditorACTIVE RT System EditorConfiguration ViewRTC

168


3

velTimedVelocity2D

posTimedPose2D

bumperTimedBooleanSeq

TimedPose2DMyController


RTC Builder RTCBuilder

MyController / RTC.xml () TimedPose2Dpose

170


2 TimedPose2D2

tm : Time sec : unsigned long nsec : unsigned long

data : Pose2D position : Point2D

x : doubleX (m) y : doubleY (m)

heading : double (rad) C++TimedPose2Dpose

pose.data.position.xX pose.data.position.yY pose.data.headingZ

X

Y

171


Visual Studio onExecute


m_velocity.data.vx=m_velocity_x;m_velocity.data.vy=0;m_velocity.data.va=m_velocity_theta;m_velocityOut.write();

if(m_poseIn.isNew()){ // m_poseIn.read(); // std::cout


RTC

MobileRobotSim.bat

RT System EditorACTIVE

173


rtc.conf RTC

IP RTC etc

rtc.confHz

rtc.conf Visual C++

exec_cxt.periodic.rate:1.0

174


ROBOTECH2012RT

example m_example

m_exampleOut

1. m_example 2. m_exampleOut.write()

2012/7/11175

example

m_example

m_exampleIn

1. m_exampleIn.isNew() 2. m_exampleIn.read() 2. m_example


4 TimedBooleanSeq (True/False) velTimedVelocity2D

posTimedPose2D

bumperTimedBooleanSeq

01

176


RTC Builder InPort : TimedBooleanSeq

: bumper bumper

177


Visual Studio **Seqdata


if(m_bumperIn.isNew()){ m_bumperIn.read(); if(m_bumper.data[0]==true){ std::cout


RTC onExecute(RTC Builder)

onActivatedActivate onDeactivatedDeactivate

outTimedDoubleSeq

GUIUp(0,1)0011

179


RT System Editor (RTCActivate/Deactivate) RTC Builder (RTC) CMake (Visual C++)

TimedVelocity2D, TimedPose2D, TimedBooleanSeq rtc.conf

180


RTC

http://openrtm.org > > RT

RTC

rtshell

RTC

http://ysuga.net

181


IT

182


SUGAR SWEET ROBOTICS

@ysuga (RTM) [email protected] http://sugarsweetrobotics.com

http://ysuga.net

183


RTM-ROS

184

RTM-ROS OpenRTM RTM

RTM

ROS

WillowGarageROSSteveCousinsspeakingatRoboDevelopmenth"p://www.willowgarage.com/blog/2008/11/17/steve-cousins-speaking-robo-development-tuesday


ROS 114148) 150( ROS Stack, Package3000) http://www.ros.org/wiki/Metrics

OpenRTM 451533) 322()

185

OpenRTM

ROS OpenRTM

h"p://maps.google.com/maps/ms?ie=UTF&msa=0&msid=209668390659853657363.00049c608b78bc7779683

h"p://maps.google.com/maps/ms?ie=UTF&msa=0&msid=202046448223103795061.0004af11ddd066defcd


OpenRTM OpenRTMRTM

ROS

186

OpenRTM ROS

NEDO

Engineering

ロボットについて (ロボットのソフトウェア的側面と分散モジュール開発)