robotic software development and interoperability using the openrdk framework daniele calisi, andrea...

Robotic software development Robotic software development and interoperability using the and interoperability using the

OpenRDK frameworkOpenRDK framework

Daniele Calisi, Andrea Censi

Robotic software development and interoperability using the OpenRDK framework - ICAR2009 WS 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 Orca, Player/Stage, MARIE, MOAST, ROS, etc.


OpenRDK summaryOpenRDK summary Goals

Ease of development fast prototyping concurrent engineering

Ease of debugging (graphical) inspection tools common module structure

Lightweightness and efficiency

Modularity code reuse loosely coupling

Configurability component and system

configurability Interoperability

conveniently exchange information with other systems/software

General information Written in C++, supports C++ modules Works on Linux, MacOsX, Windows (Cygwin) It is Open Source ( http://openrdk.sf.net )


OpenRDK main features and conceptsOpenRDK main features and concepts

RAgent (Process)

Module

(Thread)

Module

(Thread)

Module

(Thread)

Module

(Thread)

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)


Repository, properties and URLsRepository, properties and URLs URL are globally unique Published property roles

Input/Output Parameters Debug information, etc.

Types Integers, strings, floating-point

numbers, etc. Images, maps User defined types

Implicit and explicit concurrent memory access

rdk://agent1/hwInterface/speedrdk://agent1/hwInterface/odometryPoserdk://agent1/hwInterface/robotSerialPortrdk://agent1/hwInterface/currentSpeed…

rdk://agent2/localizer/laserScanrdk://agent2/localizer/estimatedPoserdk://agent2/mapper/maprdk://agent2/navigator/maxSpeedrdk://agent2/navigator/speed…

No distinction!


An exampleAn example

hwInterface

agent1

localizer

agent2

mapper navigator

repositoryrepository

speed

laserScanodometry

laserScanodometry

estimatedPose

robotPoselaserScan

map

robotPosemap

targetPose

speed


Property linksProperty links Connect modules Suggested policy

A module creates its own properties during the initialization

A module reads from and writes to its own properties

Property links Connect inputs and

outputs of different modules

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

…


The example revisedThe example revised

hwInterface

agent1

localizer

agent2

mapper navigator

repositoryrepository

speed laserScanodometry

robotPoselaserScan

robotPosemap

targetPoselaserScanodometry

estimatedPose map speed


The example revisedThe example revised

hwInterface

agent1

localizer

agent2

mapper

navigator

robotPose

targetPose

estimatedPose

map

robotPoseodometry

laserScan

speed


Configurability: Configurability: configuration files and object persistenceconfiguration files 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

(parameters, initial state) 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)

hwInterface (hwi.so) ip=192.168.0.1 laser= odometry=2.3 4.5 90°mapper (mymapper.so) robotPose= param1=32.4 param2=43.1 map=<map> laser=


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)


Interoperability: libraries and driversInteroperability: libraries and drivers OpenRDK provides conversion utilities for using third-party libraries

OpenCV, OpenGL, GMapping, Jabon (SOAP utility), etc.

Well-known sensor/actuator classes, simulators and universal drivers are supported with interface modules Robot bases, Laser Scanners, Pan-Tilt units, IMUs, Cameras, etc. Player/Stage/Gazebo, USARSim, Webots, NaoQi

GMappingJabon


Interoperability: exposing the whole repositoryInteroperability: exposing the whole repository

There is no current standard for interconnection (communications and/or middleware)

OpenRDK information sharing model All relevant information resides in the repository A module can expose the whole repository using (almost) any

data-oriented protocol/specification/standard (e.g., DDS) Extend the property link mechanism (different protocols, e.g.:

“rdk://”, “file://”, “http://”, “dds://”, etc.): transparent for the modules

Interface to future standard data-oriented middleware can be implemented straightforwardly (without changes to the core)

Using OpenRDK we can delay the final choice


Opening to the world: the easy wayOpening to the world: the easy way

Module1HTTP/1.1

ServerModule2

Repository

Web server(e.g. Apache)

?80

80

8080

•Build a GUI using HTML, AJAX, etc.•Connect to your robot at home•Connect to a robotized camera•Connect to a museum robotic guide•etc.


Property sharing through a DDS (work in progress)Property sharing through a DDS (work in progress)

OMG Specification (Real-time Data Distribution System), some implementations available

Data-oriented middleware Complex QoS control

Module1 Module2

Repository

DDS Bridge

Data Distribution System

Other

system

Other

system

Other

system

Module1 Module2

Repository

DDS Bridge


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”)

Used by two research groups “Sapienza” University of Rome

Universidad Politécnica de Madrid

First OpenRDK workshop


SummarySummary OpenRDK features

Modularity and concurrent engineering Code reuse, configurability Full multi-thread support Blackboard-style communication enforces interoperability Tools (Logging/replaying, RConsole, etc.) Open source (GPL license)

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

Graphical on-line (modules as plugins) configuration editor Detect possible deadlocks Verify constraints on schedule

More connectivity with the rest of the world Scripting (Ruby, Python) support Design a better logo!

On-going and future workOn-going and future work


http://openrdk.sourceforge.net

References:D. Calisi, A. Censi, L. Iocchi, D. Nardi. OpenRDK: a modular framework for robotic

software development. In Proc. of of Int. Conf. on Intelligent Robots and Systems (IROS). Nice, France. September, 2008. pp. 1872-1877.

D. Calisi, A. Censi, L. Iocchi, D. Nardi. OpenRDK: a framework for rapid and concurrent software prototyping. In Proc. of Int. Workshop on System and Concurrent Engineering for Space Applications (SECESA). November, 2008.

D. Calisi, A. Censi, L. Iocchi, D. Nardi. Modular and flexible robotic software development using the OpenRDK framework. Under review.

Credits:Prof. Daniele NardiDevelopers: Daniele Calisi, Andrea Censi - Early contributors: A. Farinelli, G. Grisetti,

L. IocchiCurrent contributors: F. Giannone, L. Iocchi, M. Leonetti, L. Marchetti, D. Nardi, P. de la

Puente, G. Randelli, M. Sbarigia, A. Valero, R. Vicario

Thanks for your attentionAny questions or comments?


Module codeModule code

class TemplateModule {public: TemplateModule(); virtual ~TemplateModule();

bool initConfigurationProperties(); // bool initInterfaceProperties(); bool init(); void exec(); // void exitRequested(); // void cleanup(); // void asyncAgentCmd(cstr cmd);};


#define PROPERTY_ALPHA “in/alpha”#define PROPERTY_BETA “in/beta”#define PROPERTY_RESULT “out/result”#define PROPERTY_MY_MAP “out/myMap”

bool MyModule::initConfigurationProperties(){ SESSION_TRY_START(session) // ... session->createDouble(PROPERTY_ALPHA, "Alpha", RDouble::SEC, 10.); session->createDouble(PROPERTY_BETA, "Beta", RDouble::RAD, deg2rad(20.)); session->createDouble(PROPERTY_RESULT, “Result", RDouble::M, 100.); session->createMap(PROPERTY_MY_MAP, “The map", 1., 2., 0., 10., 20, 20); SESSION_END(session) return true; SESSION_CATCH_TERMINATE(session) return false;}

initConfigurationProperties()initConfigurationProperties()


bool MyModule::init(){ SESSION_TRY_START(session) // open sockets... // connect to hardware... session->listenToTimer(500.); SESSION_END(session) return true; SESSION_CATCH_TERMINATE(session) return false;}

Can listen to: timers property changes nothing (non-OpenRDK entities: sockets, drivers, ...)

init()init()


void MyModule::exec(){ while (session->wait(), !exiting) { SESSION_TRY_START(session)

double alpha = session->getDouble(PROPERTY_ALPHA); double beta = session->getDouble(PROPERTY_BETA); double gamma = alpha * beta; session->setDouble(PROPERTY_RESULT, gamma);

session->lock(PROPERTY_MY_MAP, HERE); RMapImage* m = session->getObjectAsL<RMapImage>(PROPERTY_MY_MAP); m->setPixelB(0, 0, RImage::C8Red); session->unlock(PROPERTY_MY_MAP);

SESSION_END_CATCH_TERMINATE(session) }}

exec()exec()


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


Concurrent memory access: the session objectConcurrent memory access: the session object

RAgent

Module ModuleModule Module

Repository

session session session session


OpenRDK provides implicit locks/unlocks…

…and explicit locks/unlocks (e.g., large objects)

Concurrent access management: locksConcurrent access management: locks

double a = session->getDouble(…)

lock()get valueunlock()return value

session->lock(A)myObject = session->getObject(A)myObject.function1();myObject.function2();session->unlock(A)


Connection to RT systemsConnection to RT systems

RT-Process


The The sessionsession object object

Similar to DBMS sessions Recover locked properties

Repository and ModuleManager communication e.g. session->wait() URL context (e.g., “/robot/”) Caching of property names Starting and ending a session collect statistics (e.g.,

iteration duration, time between two start, etc.) Sessions and threads

Mutex (lock/unlock) clean management One session for each thread (you can create other

sessions for your own threads)

robotic software development and interoperability using the openrdk framework daniele calisi, andrea...

Documents

initializationa module

roboticssoftware frameworks

agent2localizerodometry

c modulesworks

remote repositoriesrdk

agent2mappermap maprdk

open source http

unix symbolic linkscan