PhaROS Presentation in FOSDEM 2014 (fosdem.org/2014). http://car.mines-douai.fr/category/pharos

1. Towards Live Environments in
Robotics
Santiago Bragagnolo – FOSDEM – 2014
http://car.mines-douai.fr/PhaROS
santiagobragagnolo@gmail.com
Santiago-pablo.bragagnolo@mines-douai.fr
@sbragagnolo

2. Proposed scenario: shopping

3. Proposed scenario: shopping

4. Proposed scenario: shopping

5. Objective
Robots for aiding people to navigate unknown
environments.
●
Find things (products, people, facilities)
●
Find the best way to reach them

6. Challenges
●
Understand the environment (mapping)
●
Define things to track and track them (tagging)
●
●
Avoid obstacles (columns, little kids moving
around)
Avoid lots of moving obstacles (crowds)

7. Robot Operative System

8. ●
Robotic middleware + Integration framework
●
Imposes Architecture
–
Nodes
–
Topics
–
Services

9. Why?
●
Existing developed software
●
Growing community
●
Know-how available

11. Why?
●
Live environment
●
Constant innovation
●
Great programming and debugging tools

12. So we developed
●
Framework for robotic behavior development
●
Based on ROS architecture
●
High level abstractions
●
Abstracted from ROS installation

13. User
Interface
Robotic Middleware
Robot Controller
Third-Party
Robotic Software
Landmark Sensor
Robot

14. Where does my code run?

15. Main ROS abstractions

16. Some implementations cools: Inner nodes

17. Some implementations cools: Nodelets

18. Main differences with ROS
●
Node – N nodes
●
External and internal communication
●
Nodelets
●
Different packaging

19. Code distribution – pharos (command tool)
●
Installing an existent package
–
Automatic type deployment
–
Automatic script generation

20. Code distribution – pharos (command tool)
●
Creating a new package
–
Archetypes
–
Generated base code

21. Turtlesim example
pharos@PhaROS:~$ pharos install turtlesim
pharos@PhaROS:~$ rosrun arduino pharos handle

22. Code distribution - command line tool
pharos@PhaROS:~$ pharos create-repository Example –output=startup.st
●
Then, in your own pharo image
pharos@PhaROS:~$ ./pharo-ui Pharo st startup.st
●
Configure your packages in deployUnitsMetadata class method of ExampleDirectory
pharos@PhaROS:~$ pharos register-repository --url=YourRepo --package=ExampleDirectory

23. What have we done
●
StarGazer driver
●
Kompai robot driver
●
Localization error fixer
●
Point localization
●
Hinted path planning

24. Shopping mall demo vad conext 2013
●
http://www.youtube.com/watch?v=CS7hzPWVAm4
Demos in Lab @ Ecole des mines de Douai
●
http://www.youtube.com/watch?v=XBrnw9wHIhY

25. European robotic week
@ Ecole des mines de Douai

26. ●
Live programing brought to robotics
●
ROS Middleware Integration
●
Open source – MIT License
Santiago Bragagnolo – FOSDEM – 2014
http://car.mines-douai.fr/PhaROS
santiagobragagnolo@gmail.com
Santiago-pablo.bragagnolo@mines-douai.fr
@sbragagnolo