1. ROSLab: a High Level Programming Language for Robotic Applications
PPR Meeting
1/22
ROSLab: a High Level Programming Language for Robotic Applications
Nicola Bezzo, Andrew King, Junkil Park,
Radoslav Ivanov, Peter Gebhard, Insup Lee
University of Pennsylvania
Monday November 4th 2013
Nov. 4th 2013

2. Demonstration on Quadrotor and UGV Current and Future Work
PPR Meeting
Outline
2/22
Outline
Review of ROS
Overview of ROSLab
How it works
Demonstration on Quadrotor and UGV
Current and Future Work
Insect Robot Integration
Hardware Generation
Conclusion
Nov. 4th 2013

3. Based in Menlo Park, California Hardware: PR2, Texai, Turtlebot
PPR Meeting
ROS
3/22
Based in Menlo Park, California
Hardware: PR2, Texai, Turtlebot
Software: ROS
Code reusability
100 ROBOTS
70 SENSORS/INTERFACES
2000+ LIBRARIES
Nov. 4th 2013

4. Meta-operating System/ Middleware for Robots
PPR Meeting
ROS
4/22
What is ROS?
Meta-operating System/ Middleware for Robots
IPC
App
App
Message passing
IPC
TCP/IP – UDP
C++, Python
ROS
App
App
UBUNTU
HARDWARE
Nov. 4th 2013

5. Operating System (Ubuntu 12.04)
5/22
COMPUTER
Operating System (Ubuntu 12.04)
ROS (Groovy)
2) Subscribe to GPS
1) Subscribe to TWIST
ROS Master
2) Advertise to TWIST
1) Advertise to GPS
3) Host + Port
4) Topic Request
Controller Node
GPS Node
Motor
5) Topic Stream
ROS Drivers
SENSORS
ACTUATORS

6. MICROCONTROLLER SYNTHESIS
PPR Meeting
ROSLab
6/22
OBJECTIVE: 1) Development of a Simplified High-Level Programming Language for Robotic Applications.
2) Complete Robot Synthesis.
HL code generation
LL code generation
Hardware description generation
PRINTABLE QUADROTOR
MICROCONTROLLER SYNTHESIS
Nov. 4th 2013

7. ROS Pseudo Code - Example
PPR Meeting
Pseudo Code 1/3
7/22
ROS Pseudo Code - Example
 Headers
#include <ros/ros.h>
#include <messages/encoder.h>
#include <messages/imu.h>
#include <other messages>
#include <cstdio>
 Declaration of variables
float odomPoseX;
int fl_enc;
Callbacks
void encoderCallback(const messages::encoder_msg::ConstPtr& enc_message) { }
void imuCallback(const messages::imu_msg::ConstPtr& imu_message)
Nov. 4th 2013

8. int main (int argc, char** argv) { ros::init(argc, argv, “node_name”);
PPR Meeting
Pseudo Code 2/3
8/22
 Main Program
int main (int argc, char** argv) {
ros::init(argc, argv, “node_name”);
ros::NodeHandle node;
ros::Publisher vel_pub;
vel_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
ros::Subscriber enc_sub;
enc_sub = node.subscribe("/encoder", 1, encoderCallback);
ros::Subscriber imu_sub;
imu_sub = node.subscribe("/imu", 1, imuCallback);
ros::Rate r(50.0);
geometry_msgs::Twist command;
Nov. 4th 2013

9. create your own logic, e.g.: Cruise Control
PPR Meeting
Pseudo Code 3/3
9/22
while(ros::ok()) {
ros::spinOnce();
create your own logic, e.g.: Cruise Control
“if (measured velocity < 0.5) {
command.linear.x += 0.005;
} else if (measured velocity > 0.5) {
command.linear.x -= 0.005;
} else { }”
vel_pub.publish(command);
r.sleep(); }
return 0;
Nov. 4th 2013

10. GUI based Programming Language
PPR Meeting
ROSLab
10/22
GUI based Programming Language
CONTROLLER
ACTUATORS
ENCODER
IMU
See next slide
Nov. 4th 2013

11. = #include <messages/encoder.h>
PPR Meeting
ROSLab
11/22
#include <messages/encoder.h>
void encoderCallback (const messages::encoder_msg::ConstPtr& enc_message) {
EncoderVelC = “operation involving number of ticks read by encoder” }
ros::Subscriber enc_sub;
enc_sub = node.subscribe ("/encoder_topic", 1, encoderCallback); =
ENCODER
/encoder_topic
EncoderVelC
Nov. 4th 2013

12. How does ROSLab generate code?
PPR Meeting
ROSLab
12/22
How does ROSLab generate code?
Written in Java
Formal Code Generation to C++ / ROS
Template with “holes”
$includes$
$pub_ports$
$sub_port_values$
$sub_port_callbacks$
int main(int argc, char **argv) { //----MAIN
ros::init(argc, argv, $node name$);
ros::NodeHandle node;
$pub_connections$
$sub_callback_setup$
ros::Rate r(100);
while(ros::ok()) { //----WHILE
ros::spinOnce();
// ***** ADD YOUR CODE HERE *****
// *********************************
r.sleep();
} // --- end while
return EXIT_SUCCESS;
} // --- end main
Advertise Example
$port_name$ = node.advertise<$port_type$> ("$port_topic$", 1);
port_name
port_topic
port_type
Nov. 4th 2013

13. PPR Meeting
Demo
13/22
Demo - Quadrotor
Nov. 4th 2013

14. PPR Meeting
Demo
14/22
Demo - UGV
Nov. 4th 2013

15. ROSLab on MIT Insect Robot
PPR Meeting
Current Work
15/22
ROSLab on MIT Insect Robot
Current Work on Insect Robot
Insect treated like a black-box (controlled with joystick)
ZigBee communication (main focus)
Joy node
Insect Joy
Insect node
Nov. 4th 2013

16. ROSLab LL-SW HW ROS NODE (e.g., Quad_joy) TRPY CONTROLLER TRPY
16/22
TRPY
LL-SW
CONTROLLER
TRPY
POSE ESTIMATE
PWM
PWM
PWM
PWM
Accel/Ang Vel M1 M2 M3 M4
RADIO μC
IMU HW

17. ROSLab LL-SW HW ROS NODE (e.g., Quad_joy) TRPY CONTROLLER TRPY
17/22
TRPY
LL-SW
CONTROLLER
TRPY
POSE ESTIMATE
PWM
PWM
PWM
PWM
Accel/Ang Vel M1 M2 M3 M4
RADIO μC μC
IMU HW

18. Quadrotor HW Components
PPR Meeting
Future Work
18/22
Quadrotor HW Components
RADIO
MICROCONTROLLER
HALF-BRIDGE FOR MOTORS
IMU
Nov. 4th 2013

19. Peripheral Setup #define ZIGBEE_SPI 3 //Number, ex: 1
PPR Meeting
Future Work
19/22
Peripheral Setup
#define ZIGBEE_SPI 3 //Number, ex: 1
#define ZIGBEE_SCK_PORT A //Letter, ex: A
#define ZIGBEE_SCK_PIN 1 //Number, ex: 1
#define ZIGBEE_SCK_AF 6 //Number, ex: 1
#define ZIGBEE_MISO_PORT A //Letter, ex: A
#define ZIGBEE_MISO_PIN 2 //Number, ex: 1
#define ZIGBEE_MISO_AF 6 //Number, ex: 1
#define ZIGBEE_MOSI_PORT A //Letter, ex: A
#define ZIGBEE_MOSI_PIN 3 //Number, ex: 1
#define ZIGBEE_MOSI_AF 6 //Number, ex: 1
#define ZIGBEE_SS_PORT A //Letter, ex: A
#define ZIGBEE_SS_PIN 4 //Number, ex: 1
#define IMU_I2C 1 //Number, 1 or 2
#define IMU_SCL_PORT A //Letter, ex: A
#define IMU_SCL_PIN 15 //Number, ex: 1
#define IMU_SDA_PORT A //Letter, ex: A
#define IMU_SDA_PIN 14 //Number, ex: 1
Nov. 4th 2013

20. Challenges Limited number of ports in a microcontroller; Power Usage;
PPR Meeting
Future Work
20/22
Challenges
Limited number of ports in a microcontroller;
Power Usage;
Limited processing power: how to make sure everything can run with some timing guarantees?
Hardware physical setup.
For insect we would like to specify:
the number of legs and DOF;
sensors.
For quad we would like to specify:
the number of propellers;
Nov. 4th 2013

21. Conclusions Why ROSLab Simple; Intuitive; Fast; Modular/Reusable
PPR Meeting
Conclusions
21/22
Conclusions
Why ROSLab
Simple;
Intuitive;
Fast;
Modular/Reusable
Prove Properties
Time execution: e.g., response time analysis
Information flow: e.g., output depends only on inputs
Simulation tool: e.g., power draw given HW setup
Nov. 4th 2013

22. PPR Meeting
Questions
22/22
THANK YOU!
Nov. 4th 2013