openrdk: a modular framework for robotic software development d. calisi, a. censi, l. iocchi, d....

OpenRDK: a modular framework OpenRDK: a modular framework for robotic software developmentfor robotic software development

D. Calisi, A. Censi, L. Iocchi, D. Nardi

OpenRDK: a modular framework for robotic software development (IROS'08) 2

Software frameworks for roboticsSoftware frameworks for robotics

Software frameworks are useful Promote standard design techniques Aim at code reusability (components) Provide ready-to-use design choices

Software frameworks for robotics OROCOS (EURON project) CLARAty (NASA) OpenRTM-aist (Japanese project) Orca, Player/Stage, MARIE, MOAST, ROS, etc.


Process

Software frameworks for roboticsSoftware frameworks for robotics

Concurrency model Call-backs Processes Threads

Information sharing model Data ports Blackboard

Module Module Module

// a callback is called by a schedulervoid callback() { // do your work quickly // and return the control // to the scheduler}

Process

Blackboard


OpenRDK main features and conceptsOpenRDK main features and concepts

RAgent (Process)

Module ModuleModule Module

Repository (Blackboard)

Properties:rdk://agent2/localizer/odometry (pose)rdk://agent2/localizer/laserScan (scan)rdk://agent2/localizer/estimatedPose (pose)rdk://agent2/navigator/maxSpeed (double)rdk://agent2/mapper/map (map)rdk://agent2/navigator/userInfo (string)…

Repository (Blackboard)

Implemented in C++ for UNIX-like systems


An exampleAn example

hwInterface

agent1

localizer

agent2

mapper navigator

repositoryrepository

speed

laserScanodometry

laserScanodometry

estimatedPose

robotPoselaserScan

map

robotPosemap

targetPose

speed


Queues as object dispatchersQueues as object dispatchers Producer/consumer problem; FIFO

Addressed like other properties (URL)

Features multiple consumers (concurrently)

no object duplication

automatic garbage collection

filters

passive

Can be used for localization (e.g., laser)

logging

Module

Queue

ModuleModule

QueueQueue


Configuration and object persistenceConfiguration and object persistence

Specify the initial configuration of each agent: the configuration file Contains the list of modules to be instantiated Contains property (initial) values Contains connections among modules

Can be used to Load initial module parameters Save and load module states Load static inputs (e.g., pre-built maps)


Property linksProperty links Connect modules Suggested policy

A module reads from and writes to its own properties

Property links Connect inputs and

outputs of different modules

Are stored in the configuration file

Similar to UNIX symbolic links

Can refer to remote repositories

rdk://agent2/localizer/odometry rdk://agent2/localizer/laserScanrdk://agent2/localizer/estimatedPose

rdk://agent2/mapper/robotPoserdk://agent2/mapper/laserScanrdk://agent2/mapper/map

rdk://agent2/navigator/maprdk://agent2/navigator/robotPoserdk://agent2/navigator/targetPoserdk://agent2/navigator/speed

rdk://agent1/hwInterface/laserScanrdk://agent1/hwInterface/odometry


Property sharingProperty sharing

A module, through links, can access remote properties

Repository actions: Requests properties Publishes them locally

Options: When to send updates Network protocol

Data reconstruction layer E.g. maps, images, etc.


rdk://agent2/localizer/odometry rdk://agent2/localizer/laserScanrdk://agent2/localizer/estimatedPose


Property sharing

Property sharing

ON_CHANGE/PERIODICTCP/UDP

…


Tools and other utilitiesTools and other utilities

Modules for logging and replaying

Profiling (work in progress)

Modules to connect to simulators Stage and Gazebo (through Player) USARSim Webots (work in progress)


Tools: RConsoleTools: RConsole

RConsole implementation Is itself an RAgent Uses property sharing

Can be used for Remote inspection Debugging Parameter tuning Preliminary GUI building for specific applications


Case study: concurrent engineeringCase study: concurrent engineering Example: developing the

localizer, mapper and navigator modules

Three students are assigned one module each

Hardware and simulator interface modules are already available

First step: interface design (inputs/outputs)

hwInterface/speed (in)hwInterface/laserScan (out, queue)hwInterface/odometry (out, queue)

localizer/odometry (in, queue)localizer/laserScan (in, queue)localizer/estimatedPose (out, queue)

mapper/robotPose (in, queue)mapper/laserScan (in, queue)mapper/map (out)

navigator/robotPose (in)navigator/targetPose (in)navigator/map (in)navigator/speed (out)


Case study: the localizer moduleCase study: the localizer module

Using logging/replaying during development Save a log of a single run and then replay it Use well-known logs databases (e.g., RAWSEEDS)



logWriter/odometry (in, queue)logWriter/laserScan (in, queue)logWriter/fileName (param)

logReader/fileName (param)logReader/odometry (out, queue)logReader/laserScan (out, queue)

LOG

RESULTLOG


usarsimClient/speed (in)usarsimClient/laserScan (out, queue)usarsimClient/odometry (out, queue)

Case study: the mapper moduleCase study: the mapper module

Using odometry instead of estimated pose Using simulator (e.g., Stage, USARSim, etc.)





Case study: the navigator moduleCase study: the navigator module As before

Use odometry, simulator clients

Pre-built map from configuration file

RConsole for target poses input




navigator/robotPose (in)navigator/targetPose (in)navigator/map (in)navigator/speed (out)MAP

(configuration file)

usarsimClient/speed (in)usarsimClient/laserScan (out, queue)usarsimClient/odometry (out, queue)


OpenRDK current applicationsOpenRDK current applications Rescue wheeled robots (real robots, USARSim)

RoboCare project (assistive robots for the elders)

Quadrotor, tarantula (real robots, USARSim)

RoboCup Standard Platform League (“Nao league”)

HRI experiments (robot side)


SummarySummary OpenRDK features

Modularity and concurrent engineering Full multi-thread support Blackboard-style communication (properties can be shared

among different processes) Tools (Logging/replaying, RConsole, etc.) Open source (GPL license)

Extend the property sharing mechanism More network QoS (e.g., from DDS: latency budget)

On-line fault detection system Configuration file editing and analysis tools

Detect possible deadlocks Verify constraints on schedule

Design a better logo!

On-going and future workOn-going and future work


QuestionsQuestions

Questions?

We are on SourceForge

http://openrdk.sourceforge.net


Code: module templateCode: module template

// ...session->createInt(“intName”, “description”, 2);session->createDouble(“myDouble”, “description”, RDouble::RAD_SEC, 0.3);session->createDouble(“result”, “description”, RDouble::RAD_SEC);

// ...

Declare properties:

Initialization:// ...

mySocket.connectTo(“127.0.0.1”, 9999);session->listenToTimer(0.5);// or you can session->listen(“intName”);

// ...

Execution:while (session->wait(), !exiting) {

int i = session->getInt(“intName”);double d = session->getDouble(“myDouble”);// do some computationsession->setDouble(“result”, d * i);

}


Code: queue usageCode: queue usage

RDK2::ROdometry* odom = new RDK2::ROdometry(/* ... */);session->queuePush("odometry", odom);

session->subscribeQueue("odometry");// "odometry" is linked to "rdk://agent1/hwInterface/odometry“// in the configuration file

while (session->wait(), !exiting) {vector<const RDK2::ROdometry*> v =

session->queueFreezeAs<ROdometry>(ODOMETRY_URL);for (size_t i = 0; i < v.size(); i++) {const ROdometry* odom = v[i];... // process odometry data in the queue

}}

PRODUCER:

CONSUMER:


Code: complex object usageCode: complex object usage

Execution:while (session->wait(), !exiting) {

session->lock(“myImage”);RImage* img =

session->getObjectAs<RImage>(“myImage”);unsigned char** pixels = img->getPixels();// do something with the imagesession->unlock(“myImage”);session->valueChanged(“myImage”);

}


Connection to RT systemsConnection to RT systems

RT-Process


A real-world configuration exampleA real-world configuration example


Contextual controller experimentsContextual controller experiments

openrdk: a modular framework for robotic software development d. calisi, a. censi, l. iocchi, d....

Documents

agent2mappermap rdk

agent2localizerodometry

agent2localizerlaserscan

agent2navigatorspeed

agent2navigatortargetpose

agent2navigatorrobotpose

agent2navigatormap rdk

agent2mapperlaserscan