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U.S. ARMY TANK AUTOMOTIVE RESEARCH, DEVELOPMENT AND ENGINEERING CENTER
Introduction to
Robotic Technology Kernel (RTK)
TARDEC Ground Vehicle Robotics
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Presentation Overview
• RTK Overview
• Architecture
• Vehicle Configuration
• Development
• Useful Tools
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RTK Overview
RTK Overview
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Autonomy Kit/Drive-by-Wire Kit Concept
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Drive-By-Wire Kit
Autonomy Kit
Operator Control Unit
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Robotic Technology Kernel (RTK)
TARDEC Robotic
Technology Kernel
DSAT MUER TORVICE CAAR Wingman CoVeR
Cross-EffortEfforts deliver new capabilities to
the RTK, which in turn is leveraged for new efforts.
Cross-ControllerAny RTK-enabled platform can be controlled by any RTK compatible
controller or WMI.
Cross-PlatformNew RTK capabilities are enjoyed by all RTK-enabled platforms
5
The Robotic Technology Kernel (RTK) is a Robot Operating System (ROS)-based modular autonomy software library for S&T development that provides a set of common robotic capabilities across a variety of platforms and efforts.
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RTK Core 2018
RTK Software Development Concept
6
RTK Master Branch
Project X Branch
Capabilities and functionality
that have broad application
to robotic autonomy in
general get integrated back
into the RTK master branch.
Specialized instantiations
of RTK are maintained in
project branches, which
originate with the RTK
Master Branch or an
existing project branch.
Project Y Branch
During the course of a
project, new capabilities
may be developed and
existing capabilities may
be changed to better
meet project goals.
The primary RTK software library is
maintained in the RTK Master Branch.
The Master Branch contains nearly all
available RTK capabilities with the
exception of specialized mission or
project specific functionality.
RTK Core 2019
RTK Core is a
documented and
distributable version of
RTK. RTK Core is
focused on providing
reliable, general
purpose autonomy
software and is released
on a periodic basis.
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RTK Past and Present
7
FY13 FY14 FY15 FY16 FY17 FY18
DSAT
MUER
Wingman
Wingman JCTD
TORVICE
AMAS MTV / AGR-TR / AGR Behaviors
CAARDSAT – Dismounted Soldier Autonomy ToolsMUER – Multi UGV Extended RangeTORVICE – Trusted Operation of Robotic Vehicles in a Contested EnvironmentAMAS – Autonomous Mobility Applique KitAGR – Autonomous Ground ResupplyTR – Tactical ResupplyCAAR – Coalition Assured Autonomous Resupply
In addition to the development
efforts listed here, RTK has been
and continues to be used on
several other projects to provide
autonomous capability.
RTK Core
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Architecture
Architecture
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Data Flow
9
CAN A-kit Bridge
IOP Bridge
Navigation Vehicle
Management
System
Motion Execution
Perception
World Model
OCUEnvironment
Autonomy Mode Manager
Behavior Manager
Drivers Algorithms
Path Planners
Payload
System
B-Kit
Diagnostics
Localization
Sensors
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Perception
This subsystem contains the sensor drivers and algorithms that detect
and interpret things of interest from the environment.
• Stereo Cameras
• LIDARs
• Ultra Wideband Radios (UWBs)
• RADAR
• Output:
– Disparity
– Material Classification
– Ground Point Clouds
– Non-Ground Point Clouds
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Localization
This subsystem fuses data from multiple sensors to provide both relative and absolute pose of the vehicle.
• GNSS
– GPS
– DRTK
– DGPS
• Wheel Speed Encoders
• IMU
• Gyro
• RANGER
• Visual Odometry
• Output:
– far_field -> near_field -> vehicle TF tree
• map -> odom -> base_link in standard ROS terms
– far field and near field odometry
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World Model
This subsystem is used for storing and fusing data from multiple
sources. Services are provided to request data as a costmap or list of
dynamic objects and zones.
• Input:
– Plugin-based sensor fusion from Perception & Localization
– “No go” zones
– Known Obstacles
• Internal operations:
– Octree-based sparse voxel map
– Persistent Map
• Output:
– Voxels
– 2D Costmaps
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Autonomy Mode Manager
This subsystem configures and monitors behavior modules.
• Input:
– Mode commands
• Output:
– Path planner configuration
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Navigation
This subsystem generates paths and speed/steering commands to
guide the vehicle to its destination.
• Input:
– Filtered 2D Costmaps
– Vehicle Odometry
• Internal operations:
– Behavior switch
– Path Planning
• A*
• Maverick
• Vaquero
• Vaquerito
• Output:
– Speed & Curvature Setpoint
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Vehicle Management System
This subsystem monitors overall health and ensures commands are
safe to perform.
• Input:
– Direct teleoperation
– Mode commands
– Camera control and configuration
– Speed and steering
– Vehicle status
• Output:
– Mode confirmation
– Verified speed and steering
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Motion Execution
This subsystem handles primitive control and status between the
autonomy kit and the drive-by-wire kit.
• Input:
– Speed & Curvature Setpoint
– Vehicle Odometry
• Output:
– Drive-by-Wire Commands
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Other Subsystems
• Diagnostics
– This subsystem provides a way to monitor the health of hardware in the
system.
• IOP Bridge
– This subsystem is the interface between the autonomy kit and the operator
control unit.
• CAN-A-Kit Bridge
– This subsystem handles traffic to and from the CAN bus.
• Payload System
– This subsystem handles control, configuration, and status of pan/tilt,
camera, and remote weapon systems that can be controlled by the
operator.
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Vehicle Configuration
Vehicle Configuration
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Sensors
• GNSS*
– GPS
– RTK
– DGPS
• IMU*
• LIDAR*
• Wheel Speed Encoders**
• Gyro**
• Stereo Cameras
• Teleop Cameras
• Data Radios
• UWB Radios
• RADAR
* Required
** Not required, but a really good idea
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Computers
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• Main
– ROS Master
– Navigation
– World Model
– Motion Execution
• Localization
– Hardware Drivers
• GPS
• IMU
• Wheel Speed
– State Estimation
• Vision
– Camera Drivers
– Image Rectification
– Disparity Segmentation
– Material Classification
• LIDAR
– Velodyne Drivers
– Ground Segmentation
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Networking
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Development
Development
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Workflow
• Create a ROS workspace
– Clone repositories
– Configure the workspace
– Install dependencies
– Build it
• Make changes
– Edit code
– Deploy to a vehicle
– Test the changes
– Push them to a new branch
– Create a Merge Request to request a code review
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Deployment (Traditional)
• “deploy” script copies compiled binaries to /opt/rtk/indigo (or kinetic)
• Ubuntu 14.04 / ROS Indigo:
– Upstart script in /etc/init/dsat.conf
– sudo service dsat start/stop/restart
• Ubuntu 16.04 / ROS Kinetic:
– Systemd unit in /etc/system/system/dsat.service
– sudo systemctl start/stop/restart dsat
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Developer Resources
• DI2E: Widely-Available Release Repository
– RTK Core
– WMI Core
• Dismount-Git: Primary Development Repository
– RTK Master Branch
– RTK Project Branches
• Developer Handbook: Environment Setup, Development Workflow,
Style Guide, etc.
• RTK User Guide
– Architecture Diagrams, Flow Charts, Use Cases
• RTK Architecture Guide
– Low-level ROS package documentation
– ROS node APIs
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Useful Tools
Useful Tools
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Calibration
• Stereo Camera Calibration
– Create calibration boards
– Collect data
– Perform calibration
– Apply calibration files
• LIDAR Alignment
– Necessary if using more than one LIDAR
– Launch the calibration system
– Run rviz to monitor progress
– Use calibration system to manually align LIDARs
– Save calibration values into platform launch file
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Playback Mode
• roslaunch mrzr_8803 mrzr_8803.launch playback:=true
• Runs all nodes on the local computer
• Disables hardware drivers
• Useful for playing back bag files to debug behavior• rosbag play –clock –r 0.5 rtk_raw_test_track_playback*.bag \
local_xy_origin:=local_xy_old
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swri_console
• Like rosconsole but better
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mapviz
• Top-down ROS visualization tool, similar to rviz
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Bag Database
• Searchable, inspectable database of bag metadata
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rqt_runtime_monitor
• Displays diagnostic messages
• Useful on a live vehicle to tell if all the hardware is working
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Miscellaneous Linux Utilities
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iftop
iotophtop
wireshark
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Questions?
Questions?
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