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UI_PRI Communication Concept

Service Robotics Group Institute of System Engineering and Robotics Bulgarian Academy of Sciences. UI_PRI Communication Concept. UI_PRI Communication Concept. Introduction

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UI_PRI Communication Concept

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  1. Service Robotics Group Institute of System Engineering and Robotics Bulgarian Academy of Sciences UI_PRI Communication Concept

  2. 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.

  3. 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)

  4. UI_PRI Communication Concept Communication Structure

  5. 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;

  6. 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;

  7. 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

  8. 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

  9. 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

  10. Robot Mapping & Movement

  11. Robot Navigation andDecission making (DM) component testing

  12. UI_PRI Communication Concept Thank You! Presented by Georgi Angelov

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