ui_pri communication concept service robotics group institute of system engineering and robotics...
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UI_PRI Communication Concept
Service Robotics Group
Institute of System Engineering and Robotics
Bulgarian Academy of Sciences
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UI_PRI Communication Concept
Introduction
The primary goal of user interface communication layer is to provide flexible, reliable and network bandwidth optimized connectivity between the UI_PRI and ROS infrastructure of the Care-o-Bot robot.
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UI_PRI Communication Concept
Types of data:
Mapping and Navigation
Robot control & Robot Feedback (via the DM)
User Feedback on exceptions
Objects visualisation (General DB and Object DB)
Video Streams (Robot Cameras Feed)
3D data and Point Cloud Data (TBD)
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UI_PRI Communication Concept
Communication Structure
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UI_PRI Communication Concept
Rosbridge
Node that provides dynamic socket and web-socket based access to the full capabilities of ROS.
Easy access from any remote device supporting sockets and JSON via single TCP port (default 9090).
Current features and limitations: Can create ROS topics (with some restrictions of the
data types) Can publish data to ROS topics; Can subscribe and read data from ROS topics; Can call any available ROS services; Cannot create own ROS services;
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UI_PRI Communication Concept
Mixed Reality Server
Uses a single TCP port (default 8080)
Streams the robot camera video feeds;
Merges mapping data, robot position and objects into single consistent and time synchronized stream;
Provides easy interface to other nodes to draw information on the map via a topic;
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UI_PRI Communication Concept
Robot task control and communication with the Decision Making (DM) component
The user can execute any task via the DM in the UI_PRI/srs_control_task/goal
The user will be notified about the result of the task/srs_control_task/result
In case of exception/error in task execution the DM will ask the user to provide new map location, object or action
/interface_cmd
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UI_PRI Communication Concept
Communication with the Databases and other ROS nodes.
UI_PRI can fetch available object data form the General or Object databases via standard ROS communication.
Using flexibility of the rosbridge additional communication with other nodes is possible
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Test Webinterface
A simple HTML5 webinterface was created in order to test communication path via the rosbridge and different ROS nodes functionality.
Advantages:
No compilation/installation required - as the javascript programming code is interpreted. This allows very rapid testing of different conditions
Platform independent – can be tested on varius systems and network setups
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Robot Mapping & Movement
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Robot Navigation andDecission making (DM) component testing
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UI_PRI Communication Concept
Thank You!Presented by Georgi Angelov