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)
TRANSCRIPT
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SUGAR SWEET ROBOTICS CO., LTD.
SUGAR SWEET ROBOTICS
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SUGAR SWEET ROBOTICS CO., LTD.
(Yuki Suga)
2012 SUGAR SWEET ROBOTICS 20102012 20072010 ()
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h"p://ysuga.neth"p://revast.co.jph"p://sugarsweetrobo7cs.com
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SUGAR SWEET ROBOTICS CO., LTD.
20072010 3
h"p://www.sugano.mech.waseda.ac.jp
WABOT-HOUSE
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SUGAR SWEET ROBOTICS CO., LTD.
20102012
4
Mobile Robot Pioneer Neuronics Katana
Inuktun Aldebaran Robotics NAO
h"p://revast.co.jp
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SUGAR SWEET ROBOTICS CO., LTD. 2012 SUGAR SWEET ROBOTICS
RT
Web
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ROS
RT
RT
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LIDAR
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C, C++, Java, C# PC
Python, Ruby
PHP, Javascript
Matlab, Scilab, R
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SLAM
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()
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ITA A
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SysML
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UML
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(ISO, JIS)
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SysML Systems Modeling Language
OMG (Object Modeling Group) UMLCORBA
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SysML
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OSOS OS
DBMS (Oracle, MySQL)
OSOS
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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
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ROS
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ROS ROS (Robot Operating System) OS Ubuntu LinuxUnix OS
ROS
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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
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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
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SUGAR SWEET ROBOTICS CO., LTD. Willow Garage to Shut Down?
Company Says 'No, Just Changing' (2013/2/11)
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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
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ORiN
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ORiN ()
ORiN
DENSO
Windows
.NET(VC,VB,C#) DENSOORiNDENSO
FAORiN
EtherCAT(TwinCAT3)
ROS,RTM
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naoqi
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naoqi () Aldebaran Robotics NAO SoftBankPepper
Win, Linux, OSX Python, C++, Java, .NET, MATLAB
Module Module
Choregraphe Module
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naoqi
Module Linux, Win, MacOSX C++, Python, C#, Java, MATLAB
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Choregraphe NAOBOX
BOX
BOX BOXPythonPython
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Choregraphe BOX
LED
BOX
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RT (RTM)
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RT RT != Real Time. RT == Robot Technology (RT) RTRT (RTC)
RTC RTC
RTCCORBAUMLOMG(Object Management Group)
OS OS OS OS RT
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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
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(OS, )
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RTM ()
ROS
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SIer
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ROS
FA (ROS-industrial) ROS
RTM RTM
ROS ORiN
DENSOFA ORiN (LabView) FA
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ROS
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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
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PackageNode Package Node
Package0Node
Package.xmlrosdep
CMakeLists.txtCMakeROS
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.launch
CMakeLists.txt package.xml
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SUGAR SWEET ROBOTICS CO., LTD.
Node Topic
Pub/Sub Topic
Service
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Publish
Subscribe
Provide
1.Request
2.Call 3.Result
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SUGAR SWEET ROBOTICS CO., LTD.
Node Parameter
Parameter
Parameter
NodeParameter
set
get
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SUGAR SWEET ROBOTICS CO., LTD.
MasterNode MasterNode Master
TopicPublish/SubscribeNode ServiceProvideNode XML-RPC
Topic (MasterAPI) NodeMasterTopic Publisher PublisherTCPMasterSubscriber SubscriberMaster/
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RT
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RT RT Real Time. RT==Robot Technology (RT) RTRT (RTC)
RTC RTCCORBAUMLOMG(Object
Management Group) OS
OS OS OS RT
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RTC RTC
RTC RTCCREATEINACTIVE
RTCACTIVE
on_execute RTCdeactivateINACTIVE
RTC RTC
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CREATED INACTIVE
ACTIVEERROR
DEACTIVATE
ACTIVATERESET
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RTC (Execution Context)
EC EC EC
ECRTCACTIVEon_execute
ECRTC EC EC
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CREATED INACTIVE
ACTIVEERROR
DEACTIVATE
ACTIVATERESET
RTC
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SUGAR SWEET ROBOTICS CO., LTD.
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
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SysMLRTC
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NAO, Pepper: Aldebaran Robotics
Mobilerobots: Adept MobileRobot
FA: DENSO, MITSUBISHI Kabuki : Yujin Robotics : V-STONE
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RT
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RT
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PC
I/OUSB RC
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WinXP+VC++2008
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USB OpenRTM-aistExample OpenCV
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TimedOctetSeqOpenCV
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OpenCV
81
TimedOctetSeqOpenCV
TimedDoubleX
TimedDoubleY
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RCiMCs04 iXs Research 45[mm] x 30[mm] USB
4chRC 4chA/D
83
iMCs04
TimedIntRC
TimedFloatA/D
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TWAIN
102(L)48(W)26(H) 70[g] 600dpi
85
TimedOctetSeqBitMap
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86
TimedString
TimedOctetSeqBitmap
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SUGAR SWEET ROBOTICS CO., LTD.
AquesTalk
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TimedString
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GUI
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2 APIRTC
RTC
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RTC
ExactDynamicsiARM
InuktunminiTracsTRACLabsBiclops
VIDEREDesignBiclops
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WASEDA UNIV, Jan. 2014
RTC
API PC RTC
93
RT
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arduinoRT
95
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RTno () RTno = RT-middleware + Arduino
ArduinoRT RTArduino RTC
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RTM OpenRTM-aist
Linux TOPPERS
RTC-CANopen CANOpen
RTC-Lite (miniRTC, microRTC) CANZigBeeARM
RTno arduino Float
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RTno
98
arduinoRTC
RTnoPC
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RT
99openrtm.org
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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]}
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SUGAR SWEET ROBOTICS CO., LTD.
RTnoRTC
OpenRTM-aist
101
TimedLongin0;InPortin0In("in0",in0);TimedLongSeqin0;InPortin0In("in1",in0);TimedLongout0;OutPortout0Out("out0",out0);TimedLongSeqout0;OutPortout0Out("out1",out0);
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SUGAR SWEET ROBOTICS CO., LTD.
RTnoRTC
onInitialize
102
intRTno::onIni7alize(){addInPort(in0In);addInPort(in1In);addOutPort(out0Out);addOutPort(out1Out);intLED=13;pinMode(LED,OUTPUT);returnRTC_OK;}
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RTnoRTC
onActivated, onDeactivated
103
intRTno::onAc7vated(){digitalWrite(LED,LOW);returnRTC_OK;}
intRTno::onDeac7vated(){digitalWrite(LED,LOW);returnRTC_OK;}
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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
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RTC Builder RTC Builder
Builder EditorRTC
Builder Editor RTC
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RTC Builder
MyController
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RTC Builder
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RTC Builder
1.onExecute
2.ON147
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RTC Builder
RTM_ROOT ~/.bashrc TimedVelocity2DTimedVector2D
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RTC Builder
C++
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()
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RTC Builder MyController Builder Editor
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RTC Eclipseworkspace Win C:\Users\\workspace Linux/home//workspace
RTC
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CMake CMake
CMakeLists.txtCMake
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ROBOTECH2012RT
CMake
build RTC/workspace/MyController
/workspace/MyController/build
ConfigureOK
2012/7/11153
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CMake2.8
Visual Studio 12 2013 Use default native compilers
Generate Visual Studio
154
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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 !
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SUGAR SWEET ROBOTICS CO., LTD.
Visual Studio build/src/MyController.sln Visual Studio
MyControllerRTC MyControllerCompRTC
MyController MyController.cpp
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SUGAR SWEET ROBOTICS CO., LTD.
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;
}
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SUGAR SWEET ROBOTICS CO., LTD.
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
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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
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SUGAR SWEET ROBOTICS CO., LTD.
IDL
C++, Java, Python IDLRTC Builder
CORBA
160
/*!*@structTimedVelocity2D*@briefTime-stampedversionofVelocity2D.*/structTimedVelocity2D{Timetm;Velocity2Ddata;};
/*!*@structVelocity2D*@briefVeloci7esin2Dcartesianspace.*/structVelocity2D{///Velocityalongthexaxisinmetrespersecond.doublevx;///Velocityalongtheyaxisinmetrespersecond.doublevy;///Yawvelocityinradianspersecond.doubleva;};
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RTC
MyControllerComp
MobileRobotSim.bat
RT System EditorACTIVE
161
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2
RTC
MyController
X
Y
162
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RTC Builder Eclipse
RTC Builder
RTC.xml
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RTC Builder
velocity_x
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velocity_x : double
: velocity_x : 0.05
velocity_theta : double : velocity_theta : 1.0
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RTC Builder
Generated Merge
Generated
()
166
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2
MyController
RTC::ReturnCode_tMyController::onExecute(RTC::UniqueIdec_id){
std::cout
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SUGAR SWEET ROBOTICS CO., LTD.
RTC
MobileRobotSim.bat RT System EditorACTIVE RT System EditorConfiguration ViewRTC
168
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3
velTimedVelocity2D
posTimedPose2D
bumperTimedBooleanSeq
TimedPose2DMyController
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SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder RTCBuilder
MyController / RTC.xml () TimedPose2Dpose
170
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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
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Visual Studio onExecute
RTC::ReturnCode_tMyController::onExecute(RTC::UniqueIdec_id){
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
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RTC
MobileRobotSim.bat
RT System EditorACTIVE
173
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rtc.conf RTC
IP RTC etc
rtc.confHz
rtc.conf Visual C++
exec_cxt.periodic.rate:1.0
174
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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
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4 TimedBooleanSeq (True/False) velTimedVelocity2D
posTimedPose2D
bumperTimedBooleanSeq
01
176
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RTC Builder InPort : TimedBooleanSeq
: bumper bumper
177
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Visual Studio **Seqdata
RTC::ReturnCode_tMyController::onExecute(RTC::UniqueIdec_id){
if(m_bumperIn.isNew()){ m_bumperIn.read(); if(m_bumper.data[0]==true){ std::cout
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SUGAR SWEET ROBOTICS CO., LTD.
RTC onExecute(RTC Builder)
onActivatedActivate onDeactivatedDeactivate
outTimedDoubleSeq
GUIUp(0,1)0011
179
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RT System Editor (RTCActivate/Deactivate) RTC Builder (RTC) CMake (Visual C++)
TimedVelocity2D, TimedPose2D, TimedBooleanSeq rtc.conf
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RTC
http://openrtm.org > > RT
RTC
rtshell
RTC
http://ysuga.net
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IT
182
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SUGAR SWEET ROBOTICS
@ysuga (RTM) [email protected] http://sugarsweetrobotics.com
http://ysuga.net
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SUGAR SWEET ROBOTICS CO., LTD.
RTM-ROS
184
RTM-ROS OpenRTM RTM
RTM
ROS
WillowGarageROSSteveCousinsspeakingatRoboDevelopmenth"p://www.willowgarage.com/blog/2008/11/17/steve-cousins-speaking-robo-development-tuesday
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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
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SUGAR SWEET ROBOTICS CO., LTD.
OpenRTM OpenRTMRTM
ROS
186
OpenRTM ROS
NEDO