agricultural robotics with ros@bosch deepfield roboticsdeepfield robotics | bosp/paa | ® robert...
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
Deepfield RoboticsA Bosch Start-Up Company
Agricultural Robotics with ROS@Bosch
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
CC/PJ-FA
CC/ESA-NA
CC/PJ-AA
Collaborative Robotics
Technologies
CR/RTC1.1-NA
AutoBodBEG, NuP
Deepfield Robotics
CR/AEV
CR/RTC1.5-NA
Sensor & Radar
Development CC-DA/ESI3
SLAMCR/AEG
Intelligent transport
assistantCR/AEY2
© Kinova Robotics
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
Weedmobile
BoniRob v3
Phenomobile
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
Phenotyping-App Weeding-AppPenetrometer-AppPrecision-Spraying-App
© Brian Sipple, Udo Flohr MiT Tech Review
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
Phenomobile
Camera App
x3
Drive ECU
JAI
Deepfield
BagBunker
Control &
diagnostics
Tablet
Smart relay
Kinect2
Motor
Joystick
Main control and
coordination
sanity
check
sanity
check
Plant detection
and processing
Deepfield
Cloud
Safety PLC
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
Real-time Drive ECU
• Requirement: Absolutely real-time loops and asynchronous monitoring of interrupts
• Solution: Odroid XU4 with Linux RT_Preempt patch (tradeoff is throughput)
• How real-time and reliable is it?
• The OSADL QA farm runs a large number of long-term tests using different HW
platforms with a stable Linux 3.12-based real-time kernel (including RT PREEMPT)• Monitored stress tests to detect: kernel crashes, memory leaks, driver misbehavior, unsatisfying
worst-case latency
https://www.osadl.org/QA-Farm-Realtime.qa-farm-about.0.html
1 year long-term monitoring without outliers
© Open Source Automation Development Lab
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
Lifecycle management
unconfigured
inactive
active shutdownerror handling
• Goal: Allow controllability and increase visibility of node operational state
• Our ROS1 implementation is based on ROS2 “managed node” proposal
• We use this to control our cameras and lighting system
• Open Source release imminent
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
Control and Diagnostics
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
Bagbunker More about this
in the following
talk
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
Future (Technical)
• ROS 2.0
• Offline processing – We need deterministic processing through nodes &
including nodelet startup
• Continuous integration requiring quality assurance from bagfiles to the
website
• Accurate timing for sensors. Changing from ros::Time::now() to
ros::Time::the_time_the_sensor_reading_was_taken()
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Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016. Deepfield Robotics | BOSP/PAA | ® Robert Bosch GmbH 2016.
www.deepfield-robotics.comAlumni
Bosch Corporate Research
Ternaris